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Summary: Chaining Planar Homographies for Fast and Reliable 3D Plane Tracking
Manolis I.A. Lourakis and Antonis A. Argyros
Institute of Computer Science, Foundation for Research and Technology - Hellas
Vassilika Vouton, P.O.Box 1385, GR 711 10, Heraklion, Crete, GREECE”
lourakis|argyros¢ @ics.forth.gr http://www.ics.forth.gr/cvrl/
Abstract
This paper addresses the problem of tracking a 3D plane
over a sequence of images acquired by a free moving cam-
era, a task that is of central importance to a wide variety
of vision tasks. A feature-based method is proposed which
given a triplet of consecutive images and a plane homogra-
phy between the first two of them, estimates the homography
induced by the same plane between the second and third
images, without requiring the plane to be segmented from
the rest of the scene. Thus, the proposed method operates
by "chaining" (i.e. propagating) across frames the image-
to-image homographies due to some 3D plane. The chain-
ing operation represents projective space using a "plane
+ parallax" decomposition, which permits the combina-
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