US Patent 9569667 Cloud resilient algorithm for coastline registration

Image navigation of an input image by edge registration proceeds by generating a reference image kernel in which edges of a reference image are embraced by borders. Image intensities of the reference image kernel internal to the borders increase with decreasing distance from the edges. A registration score is computed by cross-correlating the image intensities of the reference image kernel with image intensities in the input image. A feature exists in the input image when the registration score meets a registration criterion.