Therefore, the standard classic least squares measure is clearly inappropriate when there are outliers present. In this form, ae is called the object function, and T k is called an M estimate. In particular, the former can make use of the epipolar constraint in matching across space. The latter s matching across space and time can make use of the velocity equation in matching across both space and time. The problem stated for the matching module can be summarized as trying to locally deform a source image for maximizing the correspondence between the match and the target image.
Deformations can be nonlinear.
Image Matching page 289-362. No context found. No context found. Computer and Robot Vision II . Addison Wesley 1993.