# New Geometric Methods for Computer Vision: An Application to Structure and Motion Estimation

@article{Lasenby2004NewGM, title={New Geometric Methods for Computer Vision: An Application to Structure and Motion Estimation}, author={Joan Lasenby and William J. Fitzgerald and Anthony N. Lasenby and C. J. L. Doran}, journal={International Journal of Computer Vision}, year={2004}, volume={26}, pages={191-213} }

We discuss a coordinate-free approach to the geometry of computer vision problems. The technique we use to analyse the three-dimensional transformations involved will be that of geometric algebra: a framework based on the algebras of Clifford and Grassmann. This is not a system designed specifically for the task in hand, but rather a framework for all mathematical physics. Central to the power of this approach is the way in which the formalism deals with rotations; for example, if we have two…

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