Table 2.

The steps of the static target processed.

The separation process of static feature points
Initialize static feature points: Initial_S_point
Static Constraints:
Set up θ, η
Traverse the image Umax, Vmax
For i = 1: matches.size()
If the difference square of the adjacent coordinate points
XX2<θUmax,YY2 < ηVmax
Two points correspond
Generate a new match pair: matches1
Else
If two points are mismatched, eliminated
End if
End for
Texture Constraints:
Set up α,β,γ
Traverse the image to get the texture error dn
For i = 1: matches.size()
If dn < T
Two points correspond
Generate a new match pair matches2, get the final static feature point
Static_point
Else
If two points are mismatched, eliminated
End if
End for
The final static match point is given to the homography matrix
Perform RANSAC algorithm
Get the conversion relationship between frame and frame Homography