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Omnidirectional vision and conformal geometric algebra for visuallandmark 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 robotnavigation tasks. In this paper, we use a monocular omnidirectional visionsystem to extract the image features and the conformal geometric algebra tocompute the projective invariants from such features. We show how these featurescan be used to compute projective and permutationp2-invariants from any kind ofomnidirectional vision system. Thep2-invariants represent scenesublandmarks, and a set of them characterize a landmark. The advantage of thisrepresentation is that the landmarks are more robust than the singlecross-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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