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Omnidirectional Vision: Unified Model Using Conformal Geometry

  • Eduardo Bayro-Corrochano
  • Carlos López-Franco
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3021)

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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Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Eduardo Bayro-Corrochano
    • 1
  • Carlos López-Franco
    • 1
  1. 1.Computer Science Department, GEOVIS LABORATORYCinvestav, Unidad GuadalajaraJaliscoMéxico

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