Fig. 1. Schematic of object-space and image-space collinearity errors

Fig. 2. Comparison of object-space collinearity errors for different methods

Fig. 3. Schematic of image noise and errors

Fig. 4. Precision comparison among all algorithms. (a) Mean rotation error; (b) median rotation error; (c) mean translation error; (d) median translation error

Fig. 5. Robustness comparison among all algorithms when point number is 4. (a) Mean rotation error; (b) median rotation error; (c) mean translation error; (d) median translation error

Fig. 6. Robustness comparison among all algorithms when point number is 5. (a) Mean rotation error; (b) median rotation error; (c) mean translation error; (d) median translation error

Fig. 7. Schematic of matching relation for SIFT algorithm

Fig. 8. Experimental results of real image. (a) Reference image; (b) input image