Point and line feature-based observer design on SL(3) for Homography estimation and its application to image stabilization

Abstract : This paper presents a new algorithm for online estimation of a sequence of homographies applicable to image sequences obtained from robotic vehicles equipped with a monocular camera. The approach taken exploits the underlying Special Linear group SL(3) structure of the set of homographies along with gyrometer measurements and direct point-and line-feature correspondences between images to develop temporal filter for the homography estimate. Theoretical analysis and experimental results are provided to demonstrate the robustness of the proposed algorithm. The experimental results show excellent performance even in the case of very fast camera motion (relative to frame rate), and in presence of severe occlusion, specular reflection, image blur, and light saturation.
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Communication dans un congrès
International Conference on Robotics and Automation (ICRA), May 2017, Brisbane, Australia
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Contributeur : Minh Duc Hua <>
Soumis le : jeudi 2 novembre 2017 - 23:07:23
Dernière modification le : dimanche 5 novembre 2017 - 01:08:25

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Minh-Duc Hua, Jochen Trumpf, Tarek Hamel, Robert Mahony, Pascal Morin. Point and line feature-based observer design on SL(3) for Homography estimation and its application to image stabilization. International Conference on Robotics and Automation (ICRA), May 2017, Brisbane, Australia. 〈hal-01628175〉

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