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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.
Cited literature [16 references]
https://hal.archives-ouvertes.fr/hal-01628175
Contributor : Minh Duc Hua <>
Submitted on : Friday, September 21, 2018 - 1:05:44 PM
Last modification on : Wednesday, December 9, 2020 - 3:09:19 PM
Contributor : Minh Duc Hua <>
Submitted on : Friday, September 21, 2018 - 1:05:44 PM
Last modification on : Wednesday, December 9, 2020 - 3:09:19 PM
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