Robust homography-based control for camera positioning in piecewise planar environments

被引：0
|
作者：
Kumar, D. Santosh [1 ]
Jawahar, C. V. [1 ]
机构：
[1] Ctr Visual Informat Technol, Int Inst Informat Technol, Hyderabad 500032, Andhra Pradesh, India
来源：
COMPUTER VISION, GRAPHICS AND IMAGE PROCESSING, PROCEEDINGS | 2006年 / 4338卷
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a vision-based control for positioning a camera with respect to an unknown piecewise planar object. We introduce a novel homography-based approach that integrates information from multiple homographies to reliably estimate the relative displacement of the camera. This approach is robust to image measurement errors and provides a stable estimate of the camera motion that is free from degeneracies in the task space. We also develop a new control formulation that meets the contradictory requirements of producing a decoupled camera trajectory and ensuring object visibility by only utilizing the homography relating the two views. Experimental results validate the efficiency and robustness of our approach and demonstrate its applicability.
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页码：906 / +
页数：3
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