A fast homography decomposition technique for visual servo of mobile robots

A fast homography decomposition algorithm for visual servo of mobile robots is presented. Motion constraints of the mobile robot are exploited and thus the complexity of the algorithm decreases significantly by avoiding the singular value decomposition (SVD) step in most cases, which is potentially competitive in such applications as visual servo task executed at the video rate. Moreover, the ambiguity problem, which is troublesome for general approaches on the unconstrained configuration such as manipulators, does not exist for the mobile robot except when the reference target plane is perpendicular to the horizontal ground. Besides, the proposed algorithm can also be exploited in other related areas such as vision-based localization, provided that the camera undergoes a planar motion. Simulation results considering the pixel noise are provided to demonstrate the performance of the proposed method.