Parametric correspondence and chamfer matching: two new techniques for image matching

TLDR: The matching of image and map features is performed rapidly by a new technique, called "chamfer matching", that compares the shapes of two collections of shape fragments, at a cost proportional to linear dimension, rather than area.

Abstract: Parametric correspondence is a technique for matching images to a three dimensional symbolic reference map. An analytic camera model is used to predict the location and appearance of landmarks in the image, generating a projection for an assumed viewpoint. Correspondence is achieved by adjusting the parameters of the camera model until the appearances of the landmarks optimally match a symbolic description extracted from the image. The matching of image and map features is performed rapidly by a new technique, called "chamfer matching", that compares the shapes of two collections of shape fragments, at a cost proportional to linear dimension, rather than area. These two techniques permit the matching of spatially extensive features on the basis of shape, which reduces the risk of ambiguous matches and the dependence on viewing conditions inherent in conventional image based correlation matching.