# Feature-based Recursive Observer Design for Homography Estimation

arXiv: https://arxiv.org/abs/1606.03021 · HTML: https://mlsanity.com/paper/1606.03021/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Jun 2016.

## Built on by (most cited first, 3 of 3)

- [Learning Knowledge-Rich Sequential Model for Planar Homography Estimation in Aerial Video](https://mlsanity.com/paper/2304.02715/) (2023)
- [Toward Efficient Visual Gyroscopes: Spherical Moments, Harmonics Filtering, and Masking Techniques for Spherical Camera Applications](https://mlsanity.com/paper/2404.01924/) (2024)
- [Equivariant Filter for High Performance Image Tracking using an Event Camera](https://mlsanity.com/paper/2607.09103/) (2026)

## Abstract (arXiv)

This paper presents a new algorithm for online estimation of a sequence of homographies applicable to image sequences obtained from robotic vehicles equipped with vision sensors. The approach taken exploits the underlying Special Linear group structure of the set of homographies along with gyroscope measurements and direct point-feature correspondences between images to develop temporal filter for the homography estimate. Theoretical analysis and experimental results are provided to demonstrate the robustness of the proposed algorithm. The experimental results show excellent performance even in the case of very fast camera motion (relative to frame rate), severe occlusion, and in the presence of specular reflections.