How to put probabilities on homographies
Evgeni Begelfor, Michael Werman · IEEE Transactions on Pattern Analysis and Machine Intelligence · 2005
We present a family of "normal" distributions over a matrix group together with a simple method for estimating its parameters. In particular, the mean of a set of elements can be calculated. The approach is applied to planar projective homographies, showing that using priors defined in this way improves object recognition.