Trajectory Triangulation: 3D Reconstruction of Moving Points from a Monocular Image Sequence
IEEE Transactions on Pattern Analysis and Machine Intelligence
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
Calibration-free visual control using projective invariance
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Visual Homing: Surfing on the Epipoles
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Adaptive tracking control of a wheeled mobile robot via anuncalibrated camera system
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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In this paper we consider the problem of controlling the motion of a vehicle moving on a ground plane based on aerial imagery. In the course of this work we propose a novel analysis of the relationship between the velocity of the vehicle on the ground plane and the velocity of its projection in the image. We show that this relationship provides information about a subset of the parameters of the homography relating the ground plane to the aerial image plane and describe how we can recover this relationship from available measurements.