Region-restricted rapid keypoint registration.

A two-stage keypoint registration approach is proposed to achieve frame-rate performance, while maintaining high accuracy under large perspective and scale variations. First, an agglomerative clustering algorithm based on an effective edge significance measure is adopted to derive the corresponding regions for keypoint detection. Next, a light-weight detector and a compact descriptor are utilized to obtain the exact location of the keypoints. In conjunction with the point transferring method, the proposed approach can perform registration task in textureless regions robustly. Experiments are conducted to demonstrate that the approach can handle the real-time tracking tasks.