Estimation of rotation between two frames of a scene

An algorithm is proposed in order to estimate the rotation between two frames of a scene. Only linear segments and their geometric attributes are used and the algorithm is based on the correlation of the slope angle histograms of linear segments extracted from two frames. The basic idea is that from one frame to the other, if the camera rotates theta(r) degrees, linear segments will also be rotated by theta(r) degrees. In order to alleviate computational complexity a coarse to fine approach is proposed. The algorithm can be employed for image analysis tasks such as matching, registration, mosaicing images. Targeted applications are mainly in the domain of aerial images of man-made sites, and they cover the analysis of time-varying images. The algorithm is tested on both synthetic and real images. Synthetic frames are generated by a program which simulates, via its parameters similar effects as real imag