Hierarchical Chamfer Matching: A Parametric Edge Matching Algorithm

  • Borgefors G
  • 219


    Mendeley users who have this article in their library.
  • 749


    Citations of this article.


The algorithm matches edges by minimizing a generalized distance between them. The matching is performed in a series of images depicting the same scene with different resolutions, i.e. in a resolution pyramid. Using this hierarchical structure reduces the computational load significantly. The algorithm is reasonably simple to implement and is insensitive to noise and other disturbances. The algorithm has been tested in several applications. Two of them are briefly presented. In the first application the outlines of common tools are matched to gray-level images of the same tools, with overlapping. In the second application lake edges from aerial photographs are matched to lake edges from a map, with translation, rotation, scale, and perspective changes. The hierarchical chamfer matching algorithm gives correct results using a reasonable amount of computational resources in all tested applications

Author-supplied keywords

  • Aerial image registration
  • camera model
  • digital image processing
  • distance transformations
  • edge matching
  • resolution pyramids
  • robot vision

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • Gunilla Borgefors

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free