# edge_alignment

**Repository Path**: call-me-by-mason/edge_alignment

## Basic Information

- **Project Name**: edge_alignment
- **Description**: distance transform based image edge alignment
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-01-03
- **Last Updated**: 2022-01-03

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## Distance Transform Based Image Alignment
Implementation of edge alignment for camera motion estimation, mainly based on the following paper.
Tested on **Ubuntu 16.04 Desktop** with **OpenCV 3.3**, **Eigen3**, **Ceres** and **Sophus(a621ff2)**
```
@inproceedings{kuse2016robust,
  title={Robust camera motion estimation using direct edge alignment and sub-gradient method},
  author={Kuse, Manohar and Shen, Shaojie},
  booktitle={Robotics and Automation (ICRA), 2016 IEEE International Conference on},
  pages={573--579},
  year={2016},
  organization={IEEE}
}
```

## Result
![](https://github.com/HyHuang1995/edge_alignment/blob/master/result.png)
1.edge from source image. 2.distance transform of target image
3.edge reprojection to target image 4.optimization result