Dynamic estimation of homography transformations on the special linear group for visual servo control
Date
2009
Authors
Malis, Ezio
Hamel, Tarek
Mahony, Robert
Morin, Pascal
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Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
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 effective and can be used to improve closed-loop response of several visual servoing algorithms.
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Keywords
Keywords: Cartesians; Closed-loop response; Dynamic estimation; Dynamic observers; Group structure; Homographies; Homography transformation; Special linear group; Vision-based robot controller; Visual servo control; Observability; Robotics; Robots; Visual servoing
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Source
Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2009)
Type
Conference paper
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Restricted until
2037-12-31
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