Estimate the pixel map homograhy using image features and pixels
Estimate the pixel map homograhy using image features and pixels
Towards a Unified Approach to Homography Estimation Using Image Features and Pixel Intensities
arXiv paper abstract https://arxiv.org/abs/2202.09716v1
arXiv PDF paper https://arxiv.org/pdf/2202.09716v1.pdf
GitHub https://github.com/visiotec/vtec_ros
The homography matrix is a key component in various vision-based robotic tasks.
Traditionally, homography estimation algorithms are classified into feature- or intensity-based. The main advantages of the latter are their versatility, accuracy, and robustness to arbitrary illumination changes.
On the other hand, they have a smaller domain of convergence than the feature-based solutions.
… proposes a new hybrid method that unifies both classes into a single nonlinear optimization procedure, applies the same minimization method, and uses the same homography parametrization and warping function.
… proposed unified approach has improved convergence properties compared to each individual class.
These are also demonstrated in a visual tracking application. …
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