# Estimating scaling and translation between two consecutive temporal images

I have two camera images taken from a camera mounted over a vehicle at time $t$ and $t+1$. I need to estimate the scaling and translation in the images in spatial domain itself so that information from two images can be fused to get a better image. I have camera calibration parameters, vehicle dynamics parameters for the calculation.

Is it possible to estimate scaling efficiently? For translation I have used cross-correlation peak based approach, although it is not correct all the times.