A scale adaptive method for focusing spectral peaks

Spectral analysis provides a powerful means of estimating the perspective pose of texture planes. However, one of the problems that restricts the utility of the method is the need to set the size of the spectral window. This paper describes an adaptive method for setting the size of the spectral window. We provide an analysis which shows that there is a window size that minimises the degree of defocusing of the power spectrum. The minimum is located through an analysis of the spectral covariance matrix. We experiment with the new method on both synthetic and real world imagery. This demonstrates that the method provides accurate pose angle estimates, even when the slant angle is large. We also provide a comparison of the accuracy of perspective pose estimation that results both from our adaptive scale method and with one of fixed scale