Figure 7

Evaluation for different threshold . (a) This graph shows the number of correct matches with respect to the threshold under different scale changes. (b) This graph shows the ratio of correct matches to total matches with respect to the threshold under different scale changes. The results are obtained from images in "Boat" sequence (frames 0 and 5) and images in "East_south" sequence (frames 0, and 9). The scale change between images in "Boat" sequence is 2.3, and the rotation angle is about 9 degrees. The scale change between images in "East_south" sequence is 5.2, and the rotation angle is about 59 degrees.