3D object recognition using invariance
Artificial Intelligence - Special volume on 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
Paracatadioptric Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Epipolar Geometry of Panoramic Cameras
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Geometric Properties of Central Catadioptric Line Images
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
Omniview Cameras with Curved Surface Mirrors
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
A Theory of Catadioptric Image Formation
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Catadioptric Camera Calibration Using Geometric Invariants
IEEE Transactions on Pattern Analysis and Machine Intelligence
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In this paper, we show how to use the conformal geometric algebra (CGA) as a framework to model the different catadioptric systems using the unified model (UM). This framework is well suited since it can not only represent points, lines and planes, but also point pairs, circles and spheres (geometric objects needed in the UM). We define our model using the great expressive capabilities of the CGA in a more general and simpler way, which allows an easier implementation in more complex applications. On the other hand, we also show how to recover the projective invariants from a catadioptric image using the inverse projection of the UM. Finally, we present applications in navigation and object recognition.