Feature Line Group Tracking
Compute the dense motion field MF using census transform
- need a dense motion field, since feature lines do not correspond to any edges
Translate all the points in a feature line group using MF
- allow for disappearance of any feature line
Fit an affine transform T to the translated points
- currently: General Least Mean Squares, with a bit of robustness (discard a percentage of largest outliers), future: General Least Median Squares
Apply T to the feature line group to find the new location of each line in the group