I. Introduction
Image registration is the process of overlaying two or more images of the same scene taken at different times, from different viewpoints and/or by different sensors[1]. Image registration is an important step for computer vision, 3D reconstruction, video surveillance etc. For any registration method and any application field, it is highly desirable to provide the user with an estimate how accurate the registration actually is. Without quantitative evaluation, no registration method can be accepted for practical utilization.