Homography estimation on the Special Linear Group based on direct point correspondence
Date
2011
Authors
Hamel, Tarek
Mahony, Robert
Trumpf, Jochen
Morin, Pascal
Hua, Minh-Duc
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Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
This paper considers the question of obtaining a high quality estimate of a time-varying sequence of image homographies using point correspondences from an image sequence without requiring explicit computation of the individual homographies between any two given images. The approach uses the representation of a homography as an element of the Special Linear group and defines a nonlinear observer directly on this structure. We assume, either that the group velocity of the homography sequence is known, or more realistically, that the homographies are generated by rigid-body motion of a camera viewing a planar surface, and that the angular velocity of the camera is known.
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Keywords
Keywords: Group velocities; High quality; Homographies; Image sequence; Non-linear observer; Planar surface; Point correspondence; Rigid-body motion; Sequence of images; Special linear group; Time varying; Cameras; Observability
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Source
Proceedings of the IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)
Type
Conference paper
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Restricted until
2037-12-31
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