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

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. 1 Robotic Vision The use of computer vision techniques to control robotic systems has received great popularity in recent times [1]. Images captured by cameras attached to a robot provide ample information about its surroundings that assists it in efficientl