Image Rectification for Robust Matching of Car-mounted Camera Images

We propose a matching method for images captured at different times and under different capturing conditions. Our method is designed for change detection in streetscapes using normal automobiles that has an off-the-shelf car mounted camera and a GPS. Therefore, we should analyze low resolution and frame-rate images captured asynchronously. To cope with this difficulty, previous and current panoramic images are created from sequential images which are rectified based on the view direction of a camera, and then compared. In addition, several image deformations are rectified for robust panoramic image matching.