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.
Type de document :
Communication dans un congrès
57th IEEE Conference on Decision and Control (CDC 2018), Dec 2018, Miami Beach, FL, United States. 2018
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-01878699
Contributeur : Minh Duc Hua <>
Soumis le : jeudi 21 février 2019 - 11:38:21
Dernière modification le : vendredi 22 février 2019 - 01:23:55

Fichier

CDC18_1157_FI.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01878699, version 1

Collections

Citation

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. 2018. 〈hal-01878699〉

Partager

Métriques

Consultations de la notice

13

Téléchargements de fichiers

20