Feature-based Recursive Observer Design for Homography Estimation

@article{Hua2019FeaturebasedRO,
  title={Feature-based Recursive Observer Design for Homography Estimation},
  author={Minh-Duc Hua and Jochen Trumpf and Tarek Hamel and Robert E. Mahony and Pascal Morin},
  journal={ArXiv},
  year={2019},
  volume={abs/1606.03021}
}
  • Minh-Duc Hua, Jochen Trumpf, +2 authors Pascal Morin
  • Published in ArXiv 2019
  • Mathematics, Computer Science
  • This paper presents a new algorithm for online estimation of a sequence of homographies applicable to image sequences obtained from robotic vehicles equipped with vision sensors. The approach taken exploits the underlying Special Linear group structure of the set of homographies along with gyroscope measurements and direct point-feature correspondences between images to develop temporal filter for the homography estimate. Theoretical analysis and experimental results are provided to demonstrate… CONTINUE READING

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