A new motion registration method based on specific level-line grouping from two images taken at different times is
proposed in this paper. Our approach is an appropriate method for matching outdoor scene image sequences taken from
an on-board camera, since it is robust toward contrast changes. Moreover, it does not require any estimate of the
unknown transformation between images. The image registration is performed through an efficient level-line cumulative
multi-stage election procedure. Each stage provides an improvement in estimating the unknown transformation. We
consider in this study that the transformation between successive images is affine, which is a valid hypothesis under
small time intervals between images. Our matching process is based upon adapted primitive invariants. Particular
emphasis is placed on the primitive grouping process which depends on the nature of the chosen transformation.
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