Forward Affine Point Set Matching Under Variational Bayesian Framework

In this work, the affine point set matching is formulated under a variational Bayesian framework and the model points are projected forward into the scene space by a linear transformation. A directed acyclic graph is presented to represent the relationship between the parameters, latent variables, model and scene point sets and an iterative approximate algorithm is proposed for the estimation of the posterior distributions over parameters. Furthermore, the anisotropic covariance is assumed on the transition variable and one Gaussian component is provided for the inference of outlier points. Experimental results demonstrate that the proposed algorithm achieves good performance in terms of both robustness and accuracy.