Unified model for omnidirectional vision using the conformal geometric algebra framework

This work presents the application of the unified model for handling diverse catadioptric mirrors using the conformal geometric algebra framework. This framework is well equiped with incidence algebra operations (duality, meet and join) necessary for reflecting and projecting geometric entities of the visual space through the mirror to the camera. We show that our mathematical reduces the algebraic burden, as a result the development of algorithms for omnidirectional vision is easier and effective.