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Omnidirectional vision and conformal geometric algebra for visual landmark identification
Published online by Cambridge University Press: 01 September 2008
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.
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- Copyright © Cambridge University Press 2007
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