TY - GEN
T1 - Dynamic estimation of homography transformations on the special linear group for visual servo control
AU - Malis, Ezio
AU - Hamel, Tarek
AU - Mahony, Robert
AU - Morin, Pascal
PY - 2009
Y1 - 2009
N2 - In the last decade, many vision-based robot controllers have been designed using Cartesian information encoded in the homography transformation that links two images of a planar object. For any approach, the performance of the closed-loop system depends on the quality of the homography estimates obtained. In this paper, we exploit the special linear Lie-group structure of the set of all homographies to develop a dynamic observer to estimate homographies online. The resulting estimates are effective and can be used to improve closed-loop response of several visual servoing algorithms.
AB - In the last decade, many vision-based robot controllers have been designed using Cartesian information encoded in the homography transformation that links two images of a planar object. For any approach, the performance of the closed-loop system depends on the quality of the homography estimates obtained. In this paper, we exploit the special linear Lie-group structure of the set of all homographies to develop a dynamic observer to estimate homographies online. The resulting estimates are effective and can be used to improve closed-loop response of several visual servoing algorithms.
UR - http://www.scopus.com/inward/record.url?scp=70350365245&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152384
DO - 10.1109/ROBOT.2009.5152384
M3 - Conference contribution
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1498
EP - 1503
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -