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Matching Features -> Calculating Fundamental matrix
I am now re-implementing feature detection , using second order intensity changes and writing the feature tracking algorithm.
The point correspondences will then be used with the Eight Point Algorithm
The system of correspondances will be then solved using the fantastic GPL licensed GSL library and from that result I will get the camera pose estimation !
After I know the camera pose estimation , have the disparity depth maps from the stereo vision they will be combined to start to make a mapping of the world around guard dog!
Then ( I think ) the project will be finally ready ( as for the guard functionality ) and from there on I will have to start implementing haar/eigenface face/object/pattern detection , the KnowledgeBase stack ( for A.I. ) , sound recognition etc..