[2] Victor AYALA-RAMIREZ,Rafael MURRIETA-CID,Maurice BRIOT. A Fourier-transform based method for estimation of 2-D translation and rotation:an application to outdoor mobile robotics[A]. Proc 6th Symposium on Intelligent Robotic Systems (SIRS'98)[C]. Edinburgh (GB):The University of Edinburgh,1998. 241-250.
[4] E DE CASTRO,C. MORANDI. Registration of translated and rotated images using finite Fourier transforms[J]. IEEE Transactions on pattern analysis and machine intelligence,1987,9(4):700-703,.