Figure 13

More matching results under viewpoint changes and other imaging conditions. (a) Matching result for image pair Graffiti (frames 1 and 3 of "Graff6" sequence). The viewpoint angle is 30 degrees, and there are 49 matches, all of them are correct. (b) Matching result for image pair UBC (frames 8 and 10 of "UBC_v" sequence). The viewpoint angle is 30 degrees, and there are 65 matches with 1 false match. (c) Matching result for image pair East_park (frames 1 and 7 of "East_park" sequence). The scale factor is 3.3, and the rotation angle is 16 degrees. Occlusion and illumination changes are also added. There are 59 matches, all of them are correct. (d) Matching result for image pair Inria (frames 0 and 7 of "Inria" sequence). The scale factor is 3.4, and the rotation angle is 25 degrees. Occlusion and Gaussian noise are also added. There are 40 matches, all of them are correct.