Robust Homography Estimation Based on Nonlinear Least Squares Optimization

Table 2

Experiment results on real pictures. The first pair of images is under different blur levels and the second pair with different orientations and zoom. The third pair is for different view angles and repeated patterns.

Input	Reference	Our approach	RANSAC	Time (ours)	Time (RANSAC)
				16.79 ms	190.94 ms
				13.08 ms	4525.1 ms
				18 ms	57 ms