US Patent 10366501 Method and apparatus for performing background image registration

A method and apparatus for registering a first image having a first plurality of pixel values from a sensor having a plurality of pixels and a second image having a second plurality of pixel values of the plurality of pixels is disclosed. The method includes selecting a first image having a first plurality of pixel values and a second image having a second plurality of pixel values, grouping the first plurality of pixels according to a grid having a plurality of grid elements, each grid element having a plurality of pixels, determining a grid element displacement of the second image from the first image for each grid element of pixels, filtering the displacement of the second image from the first image to produce filtered valid grid element displacements and invalid grid element displacements, and determining a warping transform of each of the grid element displacements.