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Feature‐based recursive observer design for homography estimation and its application to image stabilization
Author(s) -
Hua MinhDuc,
Trumpf Jochen,
Hamel Tarek,
Mahony Robert,
Morin Pascal
Publication year - 2019
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.2012
Subject(s) - homography , robustness (evolution) , artificial intelligence , computer vision , image stabilization , computer science , gyroscope , observer (physics) , frame (networking) , image (mathematics) , mathematics , engineering , telecommunications , biochemistry , statistics , chemistry , physics , projective test , quantum mechanics , projective space , gene , aerospace engineering
This paper presents a new algorithm for online estimation of a sequence of homographies applicable to image sequences obtained from robotic vehicles equipped with vision sensors. The approach taken exploits the underlying Special Linear group structure of the set of homographies along with gyroscope measurements and direct point‐feature correspondences between images to develop temporal filter for the homography estimate. Theoretical analysis and experimental results are provided to demonstrate the robustness of the proposed algorithm. The experimental results show excellent performance and robustness even in the case of very fast camera motions (relative to frame rate) and severe occlusions.