Towards a Unified Approach to Homography Estimation Using Image Features and Pixel Intensities

• URL: http://arxiv.org/abs/2202.09716v1
• Date: Sun, 20 Feb 2022 02:47:05 GMT
• Title: Towards a Unified Approach to Homography Estimation Using Image Features and Pixel Intensities
• Authors: Lucas Nogueira, Ely C. de Paiva, Geraldo Silvera
• Abstract summary: The homography matrix is a key component in various vision-based robotic tasks. Traditionally, homography estimation algorithms are classified into feature- or intensity-based. This paper proposes a new hybrid method that unifies both classes into a single nonlinear optimization procedure.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: 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. Their combination is hence promising, but existing techniques only apply them sequentially. This paper 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. Experimental validation using a classical testing framework shows that the proposed unified approach has improved convergence properties compared to each individual class. These are also demonstrated in a visual tracking application. As a final contribution, our ready-to-use implementation of the algorithm is made publicly available to the research community.

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