A nonlinear observer on SL(3) achieves local exponential convergence for homography estimation by minimizing an image-intensity cost function with explicit non-degeneracy conditions.
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Equivariant Observer Design on SL(3) for Image Intensity-Based Homography Estimation
A nonlinear observer on SL(3) achieves local exponential convergence for homography estimation by minimizing an image-intensity cost function with explicit non-degeneracy conditions.