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Planar homography

In this video, QUT robotics professor Peter Corke explains the concept of planar homography for use in a robotic vision project.

Before we continue with the project, let’s cover the important concept of homography.

Given everything we’ve learnt in this program, we can now derive a linear relationship between the coordinates of points on an arbitrary plane and the coordinates of those points in an image. This is planar homography and it has a number of uses.

In this video, we cover:

  • Points on a plane
  • Planar homography
  • Corresponding points
  • Perspective rectification
  • Image warping
  • Perspective relationship between planes
  • Estimating and using the homography on the robotic vision worksheet.
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Robotic Vision: Making Robots See

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