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I have referred to Stage I.D of this tutorial. Hope this helps. http://www.robots.ox.ac.uk/~vgg/practicals/instance-recognition/index.html#stage-id-improving-sift-matching-using-a-geometric-transformation When the features have scale and orientation assigned (e.g. SIFT features have these properties), you can compute similarity transform between each ...

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I've never actually done Panorama Stitching, but I was talking to people who were, and I was involved in a project where we had to estimate the homography for fine localization for visual navigation, so here it goes. Basic approach Rough outline of the approach using RANSAC (you can read more of the approach in this Master thesis, page 12,13 - ...

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