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This paper presents a new algorithm for online estimation of a sequence ofhomographies applicable to image sequences obtained from robotic vehiclesequipped with vision sensors. The approach taken exploits the underlyingSpecial Linear group structure of the set of homographies along with gyroscopemeasurements and direct point-feature correspondences between images to developtemporal filter for the homography estimate. Theoretical analysis andexperimental results are provided to demonstrate the robustness of the proposedalgorithm. The experimental results show excellent performance even in the caseof very fast camera motion (relative to frame rate), severe occlusion, and inthe presence of specular reflections.

Feature-based Recursive Observer Design for Homography Estimation