(ii) Find geometrically consistent feature matches using RANSAC to solve for the homography between pairs of images */

number of nearest neighbors to find

I. Extract SIFT features from all n images */ Input: grayscale image Return: features map of descriptor and keypoints */

Get all files in a folder specified by path and store the file names in a vector */

Homography Estimation For homography we have: x'=Hx where p1=x'=[u,v] is a point in the reference image and p2=x=[x,y] is a point in the imag

IV. Find connected components of image matches */

V. For each connected component: */ (i) Perform bundle adjustment to solve for the rotation theta1, theta2, theta3 and focal length f of all cameras *

RGB to grayscale transformation */