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 W. Fitzgerald and A. Lasenby and C. 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… Expand
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