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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



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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