Homography estimation on the Special Linear group based on direct point correspondence

Tarek Hamel; Robert Mahony; Jochen Trumpf; Pascal Morin; Minh Duc Hua

doi:10.1109/CDC.2011.6160724

Homography estimation on the Special Linear group based on direct point correspondence

Tarek Hamel^*, Robert Mahony, Jochen Trumpf, Pascal Morin, Minh Duc Hua

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

26 Citations (Scopus)

Abstract

This paper considers the question of obtaining a high quality estimate of a time-varying sequence of image homographies using point correspondences from an image sequence without requiring explicit computation of the individual homographies between any two given images. The approach uses the representation of a homography as an element of the Special Linear group and defines a nonlinear observer directly on this structure. We assume, either that the group velocity of the homography sequence is known, or more realistically, that the homographies are generated by rigid-body motion of a camera viewing a planar surface, and that the angular velocity of the camera is known.

Original language	English
Title of host publication	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7902-7908
Number of pages	7
ISBN (Print)	9781612848006
DOIs	https://doi.org/10.1109/CDC.2011.6160724
Publication status	Published - 2011
Event	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States Duration: 12 Dec 2011 → 15 Dec 2011

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/Territory	United States
City	Orlando, FL
Period	12/12/11 → 15/12/11

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10.1109/CDC.2011.6160724

Cite this

Hamel, T., Mahony, R., Trumpf, J., Morin, P., & Hua, M. D. (2011). Homography estimation on the Special Linear group based on direct point correspondence. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 7902-7908). Article 6160724 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2011.6160724

Hamel, Tarek ; Mahony, Robert ; Trumpf, Jochen et al. / Homography estimation on the Special Linear group based on direct point correspondence. 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. pp. 7902-7908 (Proceedings of the IEEE Conference on Decision and Control).

@inproceedings{a6819dea299a44788fd10aa353cc23fd,

title = "Homography estimation on the Special Linear group based on direct point correspondence",

abstract = "This paper considers the question of obtaining a high quality estimate of a time-varying sequence of image homographies using point correspondences from an image sequence without requiring explicit computation of the individual homographies between any two given images. The approach uses the representation of a homography as an element of the Special Linear group and defines a nonlinear observer directly on this structure. We assume, either that the group velocity of the homography sequence is known, or more realistically, that the homographies are generated by rigid-body motion of a camera viewing a planar surface, and that the angular velocity of the camera is known.",

author = "Tarek Hamel and Robert Mahony and Jochen Trumpf and Pascal Morin and Hua, {Minh Duc}",

year = "2011",

doi = "10.1109/CDC.2011.6160724",

language = "English",

isbn = "9781612848006",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "7902--7908",

booktitle = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011",

address = "United States",

note = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 ; Conference date: 12-12-2011 Through 15-12-2011",

}

Hamel, T, Mahony, R , Trumpf, J, Morin, P & Hua, MD 2011, Homography estimation on the Special Linear group based on direct point correspondence. in 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011., 6160724, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 7902-7908, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, United States, 12/12/11. https://doi.org/10.1109/CDC.2011.6160724

Homography estimation on the Special Linear group based on direct point correspondence. / Hamel, Tarek; Mahony, Robert ; Trumpf, Jochen et al.
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 7902-7908 6160724 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Homography estimation on the Special Linear group based on direct point correspondence

AU - Hamel, Tarek

AU - Mahony, Robert

AU - Trumpf, Jochen

AU - Morin, Pascal

AU - Hua, Minh Duc

PY - 2011

Y1 - 2011

N2 - This paper considers the question of obtaining a high quality estimate of a time-varying sequence of image homographies using point correspondences from an image sequence without requiring explicit computation of the individual homographies between any two given images. The approach uses the representation of a homography as an element of the Special Linear group and defines a nonlinear observer directly on this structure. We assume, either that the group velocity of the homography sequence is known, or more realistically, that the homographies are generated by rigid-body motion of a camera viewing a planar surface, and that the angular velocity of the camera is known.

AB - This paper considers the question of obtaining a high quality estimate of a time-varying sequence of image homographies using point correspondences from an image sequence without requiring explicit computation of the individual homographies between any two given images. The approach uses the representation of a homography as an element of the Special Linear group and defines a nonlinear observer directly on this structure. We assume, either that the group velocity of the homography sequence is known, or more realistically, that the homographies are generated by rigid-body motion of a camera viewing a planar surface, and that the angular velocity of the camera is known.

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U2 - 10.1109/CDC.2011.6160724

DO - 10.1109/CDC.2011.6160724

M3 - Conference contribution

SN - 9781612848006

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 7902

EP - 7908

BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011

Y2 - 12 December 2011 through 15 December 2011

ER -

Hamel T, Mahony R , Trumpf J, Morin P, Hua MD. Homography estimation on the Special Linear group based on direct point correspondence. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc. 2011. p. 7902-7908. 6160724. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2011.6160724

Homography estimation on the Special Linear group based on direct point correspondence

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