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Fig. 6.4
640 from 0
to 40 pixels increasing along the vertical and horizontal axis with the step size of 5 pixels
Image samples generated by translation of the reference image of size 480
×
Fig. 6.5
Image samples generated by rotation of the reference image of size 480
×
640 from 0 to
175
ⓦ
with a step size of 5
ⓦ
along the vertical and horizontal axis with a step size of 5 pixels, producing a total
of 80 samples. In the second case, we estimated that the rotation parameters of the
image changed from 0 to 175
ⓦ
with a step size of 5
ⓦ
, producing a total of 36 samples,
as shown in Fig.
6.5
. Finally, the third case estimated that the parameters for scaling
ranged from 0.1 to 2.0.
The experimental results from the first case for 80 translated images showed that
the error rate from the registration of images caused by translation was 0 % for all
samples (i.e.
0 %). This is shown by the graph in Fig.
6.6
. In addition, when
compared with the graph of the translation parameters between the real value and the
estimated value in the horizontal plane
ˁ
m
=
, the graphs
are straight lines passing through the origin with a slope of one. This shows that the
error of the estimated translation parameters was zero,
(
t
x
)
and in the vertical plane
(
t
y
)
ˁ
p
=
0 % for all samples in
both horizontal and vertical directions.
When testing the algorithm with the pair of images obtained by rotation of the
image with size 480
640 pixels for all 36 pairs from 0 to 175
ⓦ
, it was found
that the error of image registration caused by rotation was less than 4.73 % for all
samples (i.e.
×
73 %). This is shown by the graph in Fig.
6.7
a. Moreover, a
comparison between the real
ˁ
m
≤
4
.
ˆ
ʸ
0
parameter for the
rotation in Fig.
6.7
b shows that the graph is a straight line. Table
6.1
summarizes the
ʸ
0
parameter and the estimated
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