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Dynamic estimation of homography transformations on the special linear group for visual servo control

Malis, Ezio; Hamel, Tarek; Mahony, Robert; Morin, Pascal


In the last decade, many vision-based robot controllers have been designed using Cartesian information encoded in the homography transformation that links two images of a planar object. For any approach, the performance of the closed-loop system depends on the quality of the homography estimates obtained. In this paper, we exploit the special linear Lie-group structure of the set of all homographies to develop a dynamic observer to estimate homographies online. The resulting estimates are...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Conference paper
Source: Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2009)
DOI: 10.1109/ROBOT.2009.5152384


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