Deeper understanding of the homography decomposition for vision-based control

The displacement of a calibrated camera between two images of a planar object can be estimated by decomposing a homography matrix. The aim of this document is to propose a new method for solving the homography decomposition problem. This new method provides analytical expressions for the solutions o...

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Detalles Bibliográficos
Autores: Malis, Ezio, Vargas Villanueva, Manuel
Tipo de recurso: informe técnico
Estado:Versión publicada
Fecha de publicación:2007
País:España
Institución:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/128196
Acceso en línea:https://hdl.handle.net/11441/128196
Access Level:acceso abierto
Palabra clave:Visual servoing
Planar objects
Homography
Decomposition
Camera calibration errors
Structure from motion
Euclidean reconstruction
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spelling Deeper understanding of the homography decomposition for vision-based controlMalis, EzioVargas Villanueva, ManuelVisual servoingPlanar objectsHomographyDecompositionCamera calibration errorsStructure from motionEuclidean reconstructionThe displacement of a calibrated camera between two images of a planar object can be estimated by decomposing a homography matrix. The aim of this document is to propose a new method for solving the homography decomposition problem. This new method provides analytical expressions for the solutions of the problem, instead of the traditional numerical procedures. As a result, expressions of the translation vector, rotation matrix and object-plane normal are explicitly expressed as a function of the entries of the homography matrix. The main advantage of this method is that it will provide a deeper understanding on the homography decomposition problem. For instance, it allows to obtain the relations among the possible solutions of the problem. Thus, new vision-based robot control laws can be designed. For example the control schemes proposed in this report combine the two final solutions of the problem (only one of them being the true one) assuming that there is no a priori knowledge for discerning among them.Ingeniería de Sistemas y Automática2007info:eu-repo/semantics/reportinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/128196reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)Ingléshttps://hal.inria.fr/inria-00174036v1info:eu-repo/semantics/openAccessoai:idus.us.es:11441/1281962026-06-17T12:51:07Z
dc.title.none.fl_str_mv Deeper understanding of the homography decomposition for vision-based control
title Deeper understanding of the homography decomposition for vision-based control
spellingShingle Deeper understanding of the homography decomposition for vision-based control
Malis, Ezio
Visual servoing
Planar objects
Homography
Decomposition
Camera calibration errors
Structure from motion
Euclidean reconstruction
title_short Deeper understanding of the homography decomposition for vision-based control
title_full Deeper understanding of the homography decomposition for vision-based control
title_fullStr Deeper understanding of the homography decomposition for vision-based control
title_full_unstemmed Deeper understanding of the homography decomposition for vision-based control
title_sort Deeper understanding of the homography decomposition for vision-based control
dc.creator.none.fl_str_mv Malis, Ezio
Vargas Villanueva, Manuel
author Malis, Ezio
author_facet Malis, Ezio
Vargas Villanueva, Manuel
author_role author
author2 Vargas Villanueva, Manuel
author2_role author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
dc.subject.none.fl_str_mv Visual servoing
Planar objects
Homography
Decomposition
Camera calibration errors
Structure from motion
Euclidean reconstruction
topic Visual servoing
Planar objects
Homography
Decomposition
Camera calibration errors
Structure from motion
Euclidean reconstruction
description The displacement of a calibrated camera between two images of a planar object can be estimated by decomposing a homography matrix. The aim of this document is to propose a new method for solving the homography decomposition problem. This new method provides analytical expressions for the solutions of the problem, instead of the traditional numerical procedures. As a result, expressions of the translation vector, rotation matrix and object-plane normal are explicitly expressed as a function of the entries of the homography matrix. The main advantage of this method is that it will provide a deeper understanding on the homography decomposition problem. For instance, it allows to obtain the relations among the possible solutions of the problem. Thus, new vision-based robot control laws can be designed. For example the control schemes proposed in this report combine the two final solutions of the problem (only one of them being the true one) assuming that there is no a priori knowledge for discerning among them.
publishDate 2007
dc.date.none.fl_str_mv 2007
dc.type.none.fl_str_mv info:eu-repo/semantics/report
info:eu-repo/semantics/publishedVersion
format report
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/128196
url https://hdl.handle.net/11441/128196
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv https://hal.inria.fr/inria-00174036v1
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300719

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