Robust homography-based control for camera positioning in piecewise planar environments

Authors:
D. Santosh Kumar;C. V. Jawahar
Affiliations:
Center for Visual Information Technology, International Institute of Information Technology, Hyderabad, India;Center for Visual Information Technology, International Institute of Information Technology, Hyderabad, India
Venue:
ICVGIP'06 Proceedings of the 5th Indian conference on Computer Vision, Graphics and Image Processing
Year:
2006

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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.