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.
CITATION STYLE
Santosh Kumar, D., & Jawahar, C. V. (2006). Robust Homography-Based Control for Camera Positioning in Piecewise Planar Environments (pp. 906–918). https://doi.org/10.1007/11949619_81
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