The main strength of this program is its robustness in extracting the
grids under different lighting conditions and lens distortions. We use
a new method that exploits the topological structure of the checkerboard
pattern. The main idea, detailed in our report,
is to use Delaunay triangulation to connect the corner
points found with the Harris corner detector. Neighboring pairs
of triangles with similar colors are merged into quadrilaterals that match
the squares in the pattern. We introduce an efficient data structure to
facilitate the manipulation and traversal of the triangular and quadrilateral
meshes.
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