Efficient Invariant Representations
International Journal of Computer Vision
A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
New algebraic tools for classical geometry
Geometric computing with Clifford algebras
Generalized homogeneous coordinates for computational geometry
Geometric computing with Clifford algebras
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The automatic landmark identification is very important in autonomous robot navigation tasks. In this paper, we use a monocular omnidirectional vision system to extract the image features and the conformal geometric algebra to compute the projective invariants from such features. We show how these features can be used to compute projective and permutation p2-invariants from any kind of omnidirectional vision system. The p2-invariants represent scene sublandmarks, and a set of them characterize a landmark. The advantage of this representation is that the landmarks are more robust than the single cross-ratio.