Robust picture matching using optimum selection of partial template

In this paper, we propose the new template matching method with high speed, high precision and robustness, which works robustly under the ill-conditioned such as occlusion and uneven illumination. In this method, firstly, the hierarchical distributed template matching (HDTM) which we have already proposed makes rough positioning and pose estimation with high speed. Then, we estimate the optimum pose robustly by using the LMedS robust estimation and partial template method. The experimental results for full-rotated target objects show that it achieved the precision less than ±0.1 pixel and ±0.1 degree, and the computing time were shorten up to 1/100 to the conventional hierarchical search method.