Abstract
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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© 2006 Springer-Verlag Berlin Heidelberg
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Santosh Kumar, D., Jawahar, C.V. (2006). Robust Homography-Based Control for Camera Positioning in Piecewise Planar Environments. In: Kalra, P.K., Peleg, S. (eds) Computer Vision, Graphics and Image Processing. Lecture Notes in Computer Science, vol 4338. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11949619_81
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DOI: https://doi.org/10.1007/11949619_81
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-68301-8
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