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

  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},
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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