Algorithms for estimating homography & relative pose from homography
- classical method: a.Malis's method which is used by opecnCV b.Faguras's which is adopted by some SLAM program
- Our improvement.
[1]Malis E, Vargas M. Deeper understanding of the homography decomposition for vision-based control [D]. Paris: National Institute for Research in Computer Science and Control of France, 2007.
[2]Faugeras O D, Lustman F. Motion and structure from motion in a piecewise planar environment [J]. International Journal of Pattern Recognition and Artificial Intelligence. 1988. 2(03): 485-508.
[3]张培科,武元新,蔡奇.基于单应矩阵的相对位姿改进算法[J].计算机工程与应用,2017,53(15):25-30.