  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.
