Homography estimation of a moving planar scene from direct point correspondence

Simone de Marco (1) , Minh-Duc Hua (1) , Robert Mahony (2) , Tarek Hamel (1)

1 Laboratoire d'Informatique, Signaux, et Systèmes de Sophia-Antipolis (I3S) / Equipe OSCAR
2 ANU - Australian National University - Department of engineering

Homographies 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 SL(3) for homography estimation is proposed allowing for dealing with complex camera-scene tra-jectories 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.

Domaines: Systèmes dynamiques [math.DS]; Théorie des groupes [math.GR]; Optimisation et contrôle [math.OC]

Simone de Marco, Minh-Duc Hua, Robert Mahony, Tarek Hamel. Homography estimation of a moving planar scene from direct point correspondence. 57th IEEE Conference on Decision and Control (CDC 2018), Dec 2018, Miami Beach, FL, United States. ⟨hal-01878699⟩