Title :
Omnidirectional Vision and Invariant Theory for Robot Navigation Using Conformal Geometric Algebra
Author :
López-Franco, Carlos ; Bayro-Corrochano, Eduardo
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., CINVESTAV, Unidad Guadalajara
Abstract :
The automatic landmark identification is very important in autonomous robot navigation tasks. In this work we use a monocular omnidirectional vision system to extract images features, and with help of the conformal geometric algebra (CGA), we show how these features can be used to calculate projective and permutation p2-invariants. These p2-invariants represent scene sub-landmarks and a set of them characterize a landmark
Keywords :
algebra; feature extraction; geometry; mobile robots; navigation; path planning; robot vision; automatic landmark identification; autonomous robot navigation; conformal geometric algebra; image feature extraction; invariant theory; monocular omnidirectional vision system; p2-invariants; Algebra; Feature extraction; Geometry; Layout; Machine vision; Mirrors; Navigation; Noise robustness; Robot vision systems; Robotics and automation;
Conference_Titel :
Pattern Recognition, 2006. ICPR 2006. 18th International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
0-7695-2521-0
DOI :
10.1109/ICPR.2006.897
