Image registration in range using a constrained piecewise linear model

A formulation is presented for the registration of two images in range. This is in contrast to the typical registration of images that occurs over their domain and ignores any exposure differences that might exist between the images. The registration is accomplished by approximating the camera´s nonlinear comparametric function with a constrained piecewise linear model so that the nonlinear optimization needed to estimate the exposure difference can be simply performed using linear least squares. Results are shown illustrating the effectiveness of the approach.