Patent ID: 8493459

Claim:
An image registration method, comprising: acquiring first and second distorted or partially distorted images of scenes that each include a first object; computing horizontal and vertical integral projection vectors for the first and second distorted or partially distorted images; applying at least an approximation of an inverse distortion function to the horizontal and vertical integral projection vectors of the first and second distorted or partially distorted images to generate distorted horizontal and vertical integral projection vectors; registering the first and second distorted or partially distorted images, including applying a scale factor estimation between the first and second images on the distorted horizontal and vertical integral projection vectors, wherein the registering comprises applying a scale factor estimation including: resampling at least a portion of the first distorted or partially distorted image with multiple different resampling factors over a range of resampling factors to generate multiple resampled integral projection vectors; computing for each of the different resampling factors an absolute sum of differences, or sum of squares, between the resampled integral projection vectors of the first image and corresponding integral projection vectors of the second image; and determining the scaling factor between the first and second distorted or partially distorted images, including finding the resampling factor that corresponds to the minimum value of the absolute sums over the range of resampling factors; and performing a further action using the registered first and second distorted or partially distorted images.