Robust Homography Estimation Based on Nonlinear Least Squares Optimization

Figure 4

Sparse structure example of Jacobian 𝐉 (a) and Hessian 𝐉^𝑇𝐉 (b) of the proposed optimization problem. The black entries are nonzero. 𝑛 is the number of keypoint correspondences. In this specific example, 𝑛 equals 10.

(a)

(b)