Freeze detection in 2D navigation video sequences overlaid with real satellite images

This paper focuses on the detection of freezing artifacts that could occur in the navigation system of the car during field tests. Knowing that the motion in the navigation system could also stop when the car stops, it is crucial to differentiate between this situation and a real freezing artifact. We propose an algorithm that reliably detects map jumps which occur after the freezing artifacts. The proposed algorithm extracts invariant features from the possibly frozen frame and the frame following the freeze event and matches the features in order to output a geometric transformation that describes the motion between both frames. If the motion is larger than normal, a map jump is detected and a freeze event is signaled.