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Explicit Complementary Observer Design on Special Linear Group SL(3) for Homography Estimation using Conic Correspondences

Abstract : This paper presents a new observer on the Special Linear group SL(3). The proposed solution is oriented towards online homography estimation from video sequences obtained from robotic vehicles equipped with a monocular camera. The originality of this paper relies on the extension of our prior works based on linear features to nonlinear features and more particularly to conics. A comprehensive observability analysis is provided. Performance and robustness of the proposed observer are evaluated in both simulations and experiments.
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https://hal.archives-ouvertes.fr/hal-01628177
Contributor : Minh Duc Hua <>
Submitted on : Thursday, November 2, 2017 - 11:19:36 PM
Last modification on : Tuesday, May 26, 2020 - 6:50:35 PM
Document(s) archivé(s) le : Saturday, February 3, 2018 - 2:22:41 PM

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Minh-Duc Hua, Tarek Hamel, Robert Mahony, Guillaume Allibert. Explicit Complementary Observer Design on Special Linear Group SL(3) for Homography Estimation using Conic Correspondences. 56th IEEE Conference on Decision and Control (CDC), Dec 2017, Melbourne, Australia. ⟨hal-01628177⟩

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