Conformal Geometric Algebra for 3D Object Recognition and Visual Tracking Using Stereo and Omnidirectional Robot Vision

  • Eduardo Bayro-Corrochano
  • Julio Zamora-Esquivel
  • Carlos López-Franco
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3773)

Abstract

In this paper the authors use the framework of conformal geometric algebra for the treatment of robot vision tasks. In this mathematical system we calculated projective invariants using omnidirectional vision for object recognition. We show the power of the mathematical system for handling differential kinematics in visual guided tracking.

Keywords

Visual Tracking Projective Invariant Geometric Algebra Outer Product Image Sphere 
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References

  1. 1.
    Bayro-Corrochano, E., López-Franco, C.: Omnidirectional vision: unified model using conformal geometry. In: Pajdla, T., Matas, J(G.) (eds.) ECCV 2004. LNCS, vol. 3021, pp. 536–548. Springer, Heidelberg (2004)CrossRefGoogle Scholar
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    Bayro-Corrochano, E.: Robot perception and action using conformal geometric algebra. In: Bayro-Corrochano, E. (ed.) Hanbook of Geometric Computing. Applications in Patter Recognition, Computer Vision, Neuralcomputing and Robotics, ch.14, pp. 405–457. Springer, Heidelberg (2005)Google Scholar
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    Li, H., Hestenes, D., Rockwood, A.: Generalized homogeneous coordinates for computational geometry. In: Sommer, G. (ed.) Geometric Computing with Clifford Algebra, pp. 27–59. Springer, Heidelberg (2001)Google Scholar
  4. 4.
    Zamora-Esquivel, J., Bayro-Corrochano, E.: Static and differential geometry of robot devices using conformal computational geometry (2005) (Submitted elsewhere)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Eduardo Bayro-Corrochano
    • 1
  • Julio Zamora-Esquivel
    • 1
  • Carlos López-Franco
    • 1
  1. 1.Computer Science Department, GEOVIS LaboratoryCentro de Investigación y de Estudios Avanzados, CINVESTAVGuadalajaraMexico

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