Abstract
It has been proven that a catadioptric projection can be modeled by an equivalent spherical projection. In this paper we present an extension and improvement of those ideas using the conformal geometric algebra, a modern framework for the projective space of hyper-spheres. Using this mathematical system, the analysis of diverse catadioptric mirrors becomes transparent and computationally simpler. As a result, the algebraic burden is reduced, allowing the user to work in a much more effective framework for the development of algorithms for omnidirectional vision. This paper includes complementary experimental analysis related to omnidirectional vision guided robot navigation.
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© 2004 Springer-Verlag Berlin Heidelberg
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Bayro-Corrochano, E., López-Franco, C. (2004). Omnidirectional Vision: Unified Model Using Conformal Geometry. In: Pajdla, T., Matas, J. (eds) Computer Vision - ECCV 2004. ECCV 2004. Lecture Notes in Computer Science, vol 3021. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-24670-1_41
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DOI: https://doi.org/10.1007/978-3-540-24670-1_41
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-21984-2
Online ISBN: 978-3-540-24670-1
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