Robust Homography-Based Control for Camera Positioning in Piecewise Planar Environments

  • D. Santosh Kumar
  • C. V. Jawahar
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4338)


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.


Camera Position Visual Servoing Task Space Epipolar Geometry Virtual Plane 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • D. Santosh Kumar
    • 1
  • C. V. Jawahar
    • 1
  1. 1.Center for Visual Information TechnologyInternational Institute of Information TechnologyHyderabadIndia

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