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Temphatle tracking with lie algebras

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2 Author(s)
Bayro-Corrochano, E. ; Centro de Investigacion y Estudios Avanzados del I.P.N., Unidad Guadalajara ; Ortegon-Aguilar, J.

We have developed a novel system for template tracking. Our system takes advantage of the theory of system identification to identify using minimal information the best model estimator of the affine and projective transformation. Lie algebras are used to characterize these transformations. This allows us to move along geodesics assuring the best approximation to the orbit of the Lie group involved.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

April 26 2004-May 1 2004