Dynamic estimation of homography transformations on the special linear group for visual servo control

Ezio Malis*, Tarek Hamel, Robert Mahony, Pascal Morin

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    22 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish
    Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
    Pages1498-1503
    Number of pages6
    DOIs
    Publication statusPublished - 2009
    Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
    Duration: 12 May 200917 May 2009

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Conference

    Conference2009 IEEE International Conference on Robotics and Automation, ICRA '09
    Country/TerritoryJapan
    CityKobe
    Period12/05/0917/05/09

    Fingerprint

    Dive into the research topics of 'Dynamic estimation of homography transformations on the special linear group for visual servo control'. Together they form a unique fingerprint.

    Cite this