Then the detected corners were regarded as moving objects in the images, located accurately by the KLT track algorithm, and accurate homography matrix between the two images was obtained.

• 然后把检测到特征角点作为图像中的运动目标，利用KLT跟踪算法，确定各特征角点的精确位置，从而得到图像之间精确的单应性变换矩阵。