Abstract
This paper presents a new observer on the Special Linear group sl(3). The proposed solution is oriented towards online homography estimation from video sequences obtained from robotic vehicles equipped with a monocular camera. The originality of this paper relies on the extension of our prior works based on linear features to nonlinear features and more particularly to conics. A comprehensive observability analysis is provided. Performance and robustness of the proposed observer are evaluated in both simulations and experiments.
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