Homography estimation in omnidirectional vision under the L∞-norm

Solving the vision problem using convex optimization theory is now a focus in computer vision and robot communities. Second Order Cone Programming (SOCP) is especially effective in these methods. This paper discusses homography estimation in omnidirectional vision under the L∞-norm, which provides a theoretical guarantee of global optimality and a wide field of view. We give three different kinds of frameworks in this paper. This approach provides a theoretical guarantee of global optimality. A robot with this algorithm, which provides global optimality and a wide field of view demonstrated by good performance in experiments for synthetic and real data, has a more exact location and 3D reconstruction ability, which cannot be provided by traditional homography estimate method under traditional vision system.

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