Homography-based robust pose estimation method

A method for pose estimation based on homography and its robustness against image noise is investigated in this paper. This technique was implemented on the mobile robot to verify the efficiency of visual servo. Firstly, homography matrix could be calculated by comparing the corresponding target points of an object from two different camera images. Then, by decomposing the homography matrix through Faugeraspsila algorithm, the camera pose information could be obtained under the unique construction condition. Particularly, we tested the robustness of the proposed method against image noise. Finally, this method was implemented on monocular camera-based vision systems for navigating a mobile robot. Simulation results demonstrate that the proposed method show advantages such as unique decomposition result, high robust against image noise, and so on.