Multimodal Registration and Fusion for 3D Thermal Imaging

Figure 5

Features correspondence steps: the iterative process solves for the best correspondence that minimizes the distance between feature triplets. An example of the iterative step is given: the red arrows established the first association and computed the distance score. This procedure is repeated until the best association is found (arrows in blue). This last association is the one that minimized the distance between the feature triplets under an affine transform (best score).