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Omnidirectional vision and conformal geometric algebra for visual landmark identification

Published online by Cambridge University Press:  01 September 2008

C. López-Franco  and
E. Bayro-Corrochano
C. López-Franco
Affiliation:
CINVESTAV Unidad Guadalajara, Guadalajara, Jalisco 44270, México
E. Bayro-Corrochano*
Affiliation:
CINVESTAV Unidad Guadalajara, Guadalajara, Jalisco 44270, México
*
*Corresponding author. E-mail: edb@gdl.cinvestav.mx
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Summary

The automatic landmark identification is very important in autonomous robot navigation tasks. In this paper, we use a monocular omnidirectional vision system to extract the image features and the conformal geometric algebra to compute the projective invariants from such features. We show how these features can be used to compute projective and permutation p2-invariants from any kind of omnidirectional vision system. The p2-invariants represent scene sublandmarks, and a set of them characterize a landmark. The advantage of this representation is that the landmarks are more robust than the single cross-ratio.

Keywords

Geometric algebraConformal geometric algebraCatadioptricProjective invariantsp2-invariantsOmnidirectional vision
Type
Article
Information
Robotica , Volume 26 , Issue 5 , September 2008 , pp. 559 - 569
Copyright
Copyright © Cambridge University Press 2007

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