de Marco, SimoneHua, M DMahony, RobertHamel, Tarek2024-02-06December 19781538613955http://hdl.handle.net/1885/313272Homographies 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 S L (3) for homography estimation is proposed allowing for dealing with complex camera-scene trajectories 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.This research was supported by the French DGA-Rapid project “Alcyon”, the French EQUIPEX Robotex project, and the Australian Research Council through the “Australian Centre of Excellence for Robotic Vision” CE140100016.application/pdfen-AU© 2018 IEEE201910.1109/CDC.2018.86193862022-10-02