Feature-based Recursive Observer Design for Homography Estimation and its Application to Image Stabilization

Minh-Duc Hua 1, 2 Jochen Trumpf 3 Tarek Hamel 4, 5, 6 Robert Mahony 3 Pascal Morin 7
1 I3S - Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis
2 CNRS - Centre National de la Recherche Scientifique
3 ANU - Australian National University - Department of engineering
4 Laboratoire d'Informatique, Signaux, et Systèmes de Sophia-Antipolis (I3S) / Equipe SYSTEMES
Laboratoire I3S - SIS - Signal, Images et Systèmes
5 IUF - Institut Universitaire de France
6 UCA - Université Côte d'Azur
7 ISIR - Institut des Systèmes Intelligents et de Robotique
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 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 the robustness of the proposed algorithm. The experimental results show excellent performance and robustness even in the case of very fast camera motions (relative to frame rate) and severe occlusions.
Keywords : M-estimator-like observer Nonlinear observer Homography estimation Image stabilization
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Minh-Duc Hua, Jochen Trumpf, Tarek Hamel, Robert Mahony, Pascal Morin. Feature-based Recursive Observer Design for Homography Estimation and its Application to Image Stabilization. Asian Journal of Control, Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) 2019, ⟨10.1002/asjc.2012⟩. ⟨hal-01764913v2⟩

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