Object modelling and collision avoidance using Clifford algebra

  • Eduardo Bayro-Corrochano
  • Gerald Sommer
Part of the Lecture Notes in Computer Science book series (LNCS, volume 970)


Object modelling and collision avoidance has been heavily discussed in the literature, however the Clifford algebra based method allows a more elegant reformulation which provides greater geometrical insight and helps greatly to identify and to formulate algebraic constraints useful for object collision detection, grasping and collision avoidance.


Computer vision Clifford algebra coordinate-free approach geometric modelling object modelling object contact detection collision avoidance 


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  1. 1.
    Hestenes D. and Sobczyk G. Clifford Algebra to Geometric Calculus. A Unified Language for Mathematics and Physics. D Reidel Publishing Company, Dordrecht, Holland, 1984.Google Scholar
  2. 2.
    Bayro-Corrochano EJ and Lasenby J. Object modelling and motion analysis using Clifford Algebra. Europe-China workshop on Geometrical Modelling and Invariants for Computer Vision, Xi'an, China, pp. 143–149, 27–29 April 1995.Google Scholar
  3. 3.
    Canny J. Collision detection for moving polyhedra. PAMI-8, No. 2, pp. 200–209, March 1986.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1995

Authors and Affiliations

  • Eduardo Bayro-Corrochano
    • 1
  • Gerald Sommer
    • 1
  1. 1.Computer Science InstituteChristian-Albrechts UniversityKielGermany

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