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Homography estimation of a moving planar scene from direct point correspondence

Abstract : Homographies provide a robust and reliable cue for visual servo control of robots. Some nonlinear observers have been recently developed for the estimation of temporal sequences of homographies associated with rigid-body motion of a camera observing a stationary planar scene. However, these algorithms do not model well time-varying changes in the homography velocity and tend to perform poorly when the camera or the scene moves fast. In this paper, an internal model-based observer posed on SL(3) for homography estimation is proposed allowing for dealing with complex camera-scene tra-jectories such as circular and sinusoidal motions of the camera and/or the scene. Rigorous proof of local asymptotic stability is established and excellent performance of the proposed observer is justified by experiments using an IMU-Camera prototype observing an oscillating planar target.
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Simone de Marco, Minh-Duc Hua, Robert Mahony, Tarek Hamel. Homography estimation of a moving planar scene from direct point correspondence. 57th IEEE Conference on Decision and Control (CDC 2018), Dec 2018, Miami Beach, FL, United States. ⟨hal-01878699⟩

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