Abstract
In this paper conformal geometric algebra is used to formalize an algebraic embedding for the problem of monocular pose estimation of kinematic chains. The problem is modeled on a base of several geometric constraint equations. In conformal geometric algebra the resulting equations are compact and clear. To solve the equations we linearize and iterate the equations to approximate the pose and the kinematic chain parameters.
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Rosenhahn, B., Granert, O., Sommer, G. (2002). Monocular Pose Estimation of Kinematic Chains. In: Dorst, L., Doran, C., Lasenby, J. (eds) Applications of Geometric Algebra in Computer Science and Engineering. Birkhäuser, Boston, MA. https://doi.org/10.1007/978-1-4612-0089-5_33
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DOI: https://doi.org/10.1007/978-1-4612-0089-5_33
Publisher Name: Birkhäuser, Boston, MA
Print ISBN: 978-1-4612-6606-8
Online ISBN: 978-1-4612-0089-5
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