Jan 17, 2019 · The nature of the Lyapunov function is always well conditioned in the neighbourhood of the correct homography matrix, but the global geometry of SL(3) is complex and there will be critical points and non‐convex cost structure when the rotation component of the homography matrix has errors approaching π rads from the true homography. This work proposes a pose-based visual servoing control, through using planar homography, to estimate the position and orientation of a miniature helicopter relative to a known pattern. Once having the current flight information, the nonlinear underactuated controller presented in one of our previous works, which attends all flight phases, is ...

A novel homography-based search algorithm for block motion estimation in video coding Z Cui, G Jiang, D Wang, C Wu 2011 IEEE International Conference on Multimedia and Expo, 1-6 , 2011 Sun et al. calculated the planar homography via the 3D points generated from the 2D point correspondences, which requires both enough point correspondences and calibrated stereo images. Jia et al. [20] exploited the topological adjacency of a point-line to find and filter the line candidate.

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