Abstract—Accordingtotheimagematchingdemandsofboththeprecisionandinstantaneity,areal-timetwo-levelscenematchingalgorithmisproposedbasedontheleasttrimmedsquareHausdorffdistance(LTS-HD).Inthefirstlevel,acoarsematchpointisobtainedusingpixel-jumpsearchingthroughthereferenceimage.Inthes