Conformal geometric algebra for 3d object recognition and visual tracking using stereo and omnidirectional robot vision

  • Authors:

  • Eduardo Bayro-Corrochano;Julio Zamora-Esquivel;Carlos López-Franco

  • Affiliations:

  • Computer Science Department, GEOVIS Laboratory, Centro de Investigación y de Estudios Avanzados, CINVESTAV, Guadalajara, Jalisco, Mexico;Computer Science Department, GEOVIS Laboratory, Centro de Investigación y de Estudios Avanzados, CINVESTAV, Guadalajara, Jalisco, Mexico;Computer Science Department, GEOVIS Laboratory, Centro de Investigación y de Estudios Avanzados, CINVESTAV, Guadalajara, Jalisco, Mexico

  • Venue:
  • CIARP'05 Proceedings of the 10th Iberoamerican Congress conference on Progress in Pattern Recognition, Image Analysis and Applications
  • Year:
  • 2005

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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.