Exploiting Attitude Sensing in Vision-Based Navigation for an Airship

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="854102.fig.004a" src="https://static.hindawi.com/articles/jr/volume-2009/854102/figures/854102.fig.004a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>A 3D plane is imaged by a moving camera</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="854102.fig.004b" src="https://static.hindawi.com/articles/jr/volume-2009/854102/figures/854102.fig.004b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Above, two aerial images with some pixel correspondences. Below, the same images registered with a homography</td></tr></table></td></tr></table>

<table>A 3D plane imaged by a moving camera induces a homography.</table>

Journal of Robotics

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Figure 4

Figure 4: Exploiting Attitude Sensing in Vision-Based Navigation for an Airship 