Explicit complementary observer design on Special Linear Group SL(3) for homography estimation using conic correspondences

Abstract

This paper presents a new observer on the Special Linear group sl(3). The proposed solution is oriented towards online homography estimation from video sequences obtained from robotic vehicles equipped with a monocular camera. The originality of this paper relies on the extension of our prior works based on linear features to nonlinear features and more particularly to conics. A comprehensive observability analysis is provided. Performance and robustness of the proposed observer are evaluated in both simulations and experiments. Show more