Pose from homography

1. What is planar homography?
2. What is a homography image?
3. How do I find a homography?
4. What is homography in OpenCV?

What is planar homography?

We can derive a linear relationship between the coordinates of points on an arbitrary plane in the scene and the coordinate of that point in the image. This is the planar homography and it has a number of everyday uses which might surprise you.

What is a homography image?

In the field of computer vision, any two images of the same planar surface in space are related by a homography (assuming a pinhole camera model). This has many practical applications, such as image rectification, image registration, or camera motion—rotation and translation—between two images.

How do I find a homography?

The homography can be estimated using for instance the Direct Linear Transform (DLT) algorithm (see 1 for more information). As the object is planar, the transformation between points expressed in the object frame and projected points into the image plane expressed in the normalized camera frame is a homography.

What is homography in OpenCV?

Homography is a transformation that maps the points in one point to the corresponding point in another image. The homography is a 3×3 matrix : If 2 points are not in the same plane then we have to use 2 homographs. Similarly, for n planes, we have to use n homographs.