Vision-based robot control with omnidirectional cameras and conformal geometric algebra

  title={Vision-based robot control with omnidirectional cameras and conformal geometric algebra},
  author={Carlos L{\'o}pez-Franco and Nancy Arana-Daniel and Eduardo Bayro-Corrochano},
  journal={2010 IEEE International Conference on Robotics and Automation},
Traditional cameras have a narrow field of view, to enlarge the field of view omnidirectional cameras can be used. In this work, we propose, a simple an elegant solution to the image formation model for omnidirectional cameras with parabolic mirrors. We propose the use of conformal geometric algebra (CGA), since the involved transformation operations in the model can be represented as an special group of multivectors. This representation is advantageous since the inversions are linearized… CONTINUE READING
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