Symbol	Description
$T_e$	a homography estimation interval
$T_n$	the $n^{th}$ homography estimation interval from frame $(n-1)T_e$ to frame $n{T}_e-1$
$l\left(\mathbf{p}\right)$	the location of a feature point $\mathbf{p}$
$R\left(\mathbf{p}\right)$	the blob response of a feature point $\mathbf{p}$
$\left|A\right|$	the number of elements in set A
${\mathbf{p}}_{\mathbf{v}}$	a representative feature point in $G_{\mathbf{v}}^r$
$S_n$	a set of feature points in the $n^{th}$ interval $T_n$
$S_{n,\mathbf{v}}$	a set of feature points in the location bin $G_{\mathbf{v}}^h$ in the $n^{th}$ interval $T_n$
$S_n^r$	a set of representative feature points in the $n^{th}$ interval $T_n$
$S_n^m$	a set of matched pairs of representative feature points in the $n^{th}$ interval $T_n$
${\mathsf{\Delta }}_r$	the width of a square-quantized location bin
${\mathsf{\Delta }}_h$	the width of a square-quantized histogram bin
$G_{\mathbf{v}}^r$	a square quantized location bin for the election of a representative feature point of
	which upper-left vertex is at $\mathbf{v}$ and the width is ${\mathsf{\Delta }}_r$
$G_{\mathbf{v}}^h$	a square quantized histogram bin for the histogram generation of feature locations,
	of which upper-left vertex is at $\mathbf{v}$ and the width is ${\mathsf{\Delta }}_h$
$h^n\left(\mathbf{p}\right)$	the number of occurrences of feature points in $G_{\mathbf{v}}^h$ where $\mathbf{p}$ is located in the interval $T_n$
${\mathbf{v}}^h\left(\mathbf{p}\right)$	a upper-left vertex of the quantized histogram bin where a feature point $\mathbf{p}$ is located
${\mathbf{p}}_i^l$	the $ith$ left matched representative feature point
${\mathbf{p}}_i^r$	the $ith$ right matched representative feature point
M	the number of pairs of matched representative feature points
$\mathbf{H}$	a homography between a pair of video sequences