diff --git a/ext/cvmat.cpp b/ext/cvmat.cpp
index 50bdc8c..3d569bb 100644
--- a/ext/cvmat.cpp
+++ b/ext/cvmat.cpp
@@ -320,6 +320,7 @@ void define_ruby_class()
   rb_define_method(rb_klass, "warp_affine", RUBY_METHOD_FUNC(rb_warp_affine), -1);
   rb_define_singleton_method(rb_klass, "rotation_matrix2D", RUBY_METHOD_FUNC(rb_rotation_matrix2D), 3);
   rb_define_method(rb_klass, "warp_perspective", RUBY_METHOD_FUNC(rb_warp_perspective), -1);
+  rb_define_singleton_method(rb_klass, "find_homography", RUBY_METHOD_FUNC(rb_find_homograpy), -1);
   //rb_define_method(rb_klass, "get_perspective_transform", RUBY_METHOD_FUNC(rb_get_perspective_transform), -1);
   //rb_define_alias(rb_klass, "warp_perspective_q_matrix", "get_perspective_transform");
   rb_define_method(rb_klass, "remap", RUBY_METHOD_FUNC(rb_remap), -1);
@@ -3343,6 +3344,46 @@ rb_warp_affine(int argc, VALUE *argv, VALUE self)
   return dest;
 }
 
+
+/*
+ * call-seq:
+ *   CvMat.find_homograpy(<i>src_points, dst_points[,method = :all][,ransac_reproj_threshold = 0][,get_status = nil]</i>) -> cvmat
+ * 
+ * Finds the perspective transformation between two planes.
+ * <i>src_points:</i> Coordinates of the points in the original plane, 2xN, Nx2, 3xN or Nx3 1-channel array (the latter two are for representation in homogeneous coordinates), where N is the number of points. 1xN or Nx1 2- or 3-channel array can also be passed.
+ * <i>dst_points:</i> Point coordinates in the destination plane, 2xN, Nx2, 3xN or Nx3 1-channel, or 1xN or Nx1 2- or 3-channel array.
+ * <i>method:</i> The method used to computed homography matrix; one of the following symbols:
+ *     :all - a regular method using all the points
+ *     :ransac - RANSAC-based robust method
+ *     :lmeds - Least-Median robust method
+ * <i>ransac_reproj_threshold:</i> The maximum allowed reprojection error to treat a point pair as an inlier (used in the RANSAC method only). If src_points and dst_points are measured in pixels, it usually makes sense to set this parameter somewhere in the range 1 to 10.
+ * <i>get_status</i> If true, the optional output mask set by a robust method (:ransac or :lmeds) is returned additionally.
+ */
+VALUE
+rb_find_homograpy(int argc, VALUE *argv, VALUE self)
+{
+  VALUE src_points, dst_points, method, ransac_reproj_threshold, get_status;
+  rb_scan_args(argc, argv, "23", &src_points, &dst_points, &method, &ransac_reproj_threshold, &get_status);
+
+  VALUE homography = new_object(cvSize(3, 3), CV_32FC1);
+  int _method = CVMETHOD("HOMOGRAPHY_CALC_METHOD", method, 0);
+  double _ransac_reproj_threshold = NIL_P(ransac_reproj_threshold) ? 0.0 : NUM2DBL(ransac_reproj_threshold);
+
+  if ((_method != 0) && (!NIL_P(get_status)) && IF_BOOL(get_status, 1, 0, 0)) {
+    CvMat *src = CVMAT(src_points);
+    int num_points = MAX(src->rows, src->cols);
+    VALUE status = new_object(cvSize(num_points, 1), CV_8UC1);
+    cvFindHomography(src, CVMAT(dst_points), CVMAT(homography),
+		     _method, _ransac_reproj_threshold, CVMAT(status));
+    return rb_assoc_new(homography, status);
+  }
+  else {
+    cvFindHomography(CVMAT(src_points), CVMAT(dst_points), CVMAT(homography),
+		     _method, _ransac_reproj_threshold, NULL);
+    return homography;
+  }
+}
+
 /*
  * call-seq:
  *   CvMat.rotation_matrix2D(<i>center,angle,scale</i>) -> cvmat
diff --git a/ext/cvmat.h b/ext/cvmat.h
index 5ac1f36..b4a4fd3 100644
--- a/ext/cvmat.h
+++ b/ext/cvmat.h
@@ -181,6 +181,7 @@ VALUE rb_resize(int argc, VALUE *argv, VALUE self);
 VALUE rb_warp_affine(int argc, VALUE *argv, VALUE self);
 VALUE rb_rotation_matrix2D(VALUE self, VALUE center, VALUE angle, VALUE scale);
 VALUE rb_warp_perspective(int argc, VALUE *argv, VALUE self);
+VALUE rb_find_homograpy(int argc, VALUE *argv, VALUE self);
 //VALUE rb_perspective_transform();
 VALUE rb_remap(int argc, VALUE *argv, VALUE self);
 VALUE rb_log_polar(int argc, VALUE *argv);
diff --git a/ext/opencv.cpp b/ext/opencv.cpp
index 2f6438e..a0cd607 100644
--- a/ext/opencv.cpp
+++ b/ext/opencv.cpp
@@ -204,7 +204,14 @@ define_ruby_module()
   rb_define_const(rb_module, "WARP_FLAG", warp_flag);
   RESIST_CVMETHOD(warp_flag, "fill_outliers", CV_WARP_FILL_OUTLIERS);
   RESIST_CVMETHOD(warp_flag, "inverse_map", CV_WARP_INVERSE_MAP);
-  
+
+  VALUE homography_calc_method = rb_hash_new();
+  /* {:all, :ransac, :lmeds}: Methods used to computed homography matrix */
+  rb_define_const(rb_module, "HOMOGRAPHY_CALC_METHOD", homography_calc_method);
+  RESIST_CVMETHOD(homography_calc_method, "all", 0);
+  RESIST_CVMETHOD(homography_calc_method, "ransac", CV_RANSAC);
+  RESIST_CVMETHOD(homography_calc_method, "lmeds", CV_LMEDS);
+
   VALUE depth = rb_hash_new();
   /* {:cv8u, :cv8s, :cv16u, :cv16s, :cv32s, :cv32f, :cv64f}: Depth of each pixel. */
   rb_define_const(rb_module, "DEPTH", depth);
diff --git a/test/test_cvmat_imageprocessing.rb b/test/test_cvmat_imageprocessing.rb
index 5290335..74ba695 100755
--- a/test/test_cvmat_imageprocessing.rb
+++ b/test/test_cvmat_imageprocessing.rb
@@ -318,6 +318,72 @@ class TestCvMat_imageprocessing < OpenCVTestCase
     }
   end
 
+  def test_find_homography
+    # Nx2
+    src = CvMat.new(4, 2, :cv32f, 1)
+    dst = CvMat.new(4, 2, :cv32f, 1)
+
+    # Nx3 (Homogeneous coordinates)
+    src2 = CvMat.new(4, 3, :cv32f, 1)
+    dst2 = CvMat.new(4, 3, :cv32f, 1)
+    
+    # Homography
+    #   <src>     =>    <dst>
+    # (0, 0)      =>  (50, 0)
+    # (255, 0)    =>  (205, 0)
+    # (255, 255)  =>  (255, 220)
+    # (0, 255)    =>  (0, 275)
+    [[0, 0], [255, 0], [255, 255], [0, 255]].each_with_index { |coord, i|
+      src[i, 0] = coord[0]
+      src[i, 1] = coord[1]
+
+      src2[i, 0] = coord[0] * 2
+      src2[i, 1] = coord[1] * 2
+      src2[i, 2] = 2
+    }
+    [[50, 0], [205, 0], [255, 220], [0, 275]].each_with_index { |coord, i|
+      dst[i, 0] = coord[0]
+      dst[i, 1] = coord[1]
+
+      dst2[i, 0] = coord[0] * 2
+      dst2[i, 1] = coord[1] * 2
+      dst2[i, 2] = 2
+    }
+
+    mat1 = CvMat.find_homography(src, dst)
+    mat2 = CvMat.find_homography(src, dst, :all)
+    mat3 = CvMat.find_homography(src, dst, :ransac)
+    mat4 = CvMat.find_homography(src, dst, :lmeds)
+    mat5, status5 = CvMat.find_homography(src, dst, :ransac, 5, true)
+    mat6, status6 = CvMat.find_homography(src, dst, :ransac, 5, true)
+    mat7 = CvMat.find_homography(src, dst, :ransac, 5, false)
+    mat8 = CvMat.find_homography(src, dst, :ransac, 5, nil)
+    mat9 = CvMat.find_homography(src, dst, :all, 5, true)
+    mat10, status10 = CvMat.find_homography(src2, dst2, :ransac, 5, true)
+
+    [mat1, mat2, mat3, mat4, mat5, mat6, mat7, mat8, mat9, mat10].each { |mat|
+      assert_equal(3, mat.rows)
+      assert_equal(3, mat.cols)
+      assert_equal(:cv32f, mat.depth)
+      assert_equal(1, mat.channel)
+      [0.72430, -0.19608, 50.0,
+       0.0, 0.62489, 0.0,
+       0.00057, -0.00165, 1.0].each_with_index { |x, i|
+        assert_in_delta(x, mat[i][0], 0.0001)
+      }
+    }
+    
+    [status5, status6, status10].each { |status|
+      assert_equal(1, status.rows)
+      assert_equal(4, status.cols)
+      assert_equal(:cv8u, status.depth)      
+      assert_equal(1, status.channel)
+      4.times { |i|
+        assert_in_delta(1.0, status[i][0], 0.0001)
+      }
+    }
+  end
+
   def test_remap
     mat0 = CvMat.load(FILENAME_LENA256x256, CV_LOAD_IMAGE_ANYCOLOR | CV_LOAD_IMAGE_ANYDEPTH)
     matx = CvMat.new(mat0.height, mat0.width, :cv32f, 1).clear
diff --git a/test/test_opencv.rb b/test/test_opencv.rb
index 688be3d..9f00dc8 100755
--- a/test/test_opencv.rb
+++ b/test/test_opencv.rb
@@ -57,6 +57,11 @@ class TestOpenCV < OpenCVTestCase
     assert_equal(8, WARP_FLAG[:fill_outliers])
     assert_equal(16, WARP_FLAG[:inverse_map])
 
+    # Homography calculation methods
+    assert_equal(0, HOMOGRAPHY_CALC_METHOD[:all])
+    assert_equal(4, HOMOGRAPHY_CALC_METHOD[:lmeds])
+    assert_equal(8, HOMOGRAPHY_CALC_METHOD[:ransac])
+
     # Anti aliasing flags
     assert_equal(16, CONNECTIVITY[:aa])
     assert_equal(16, CONNECTIVITY[:anti_alias])