• DocumentCode
    457013
  • 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
  • Volume
    1
  • fYear
    0
  • fDate
    0-0 0
  • Firstpage
    570
  • Lastpage
    573
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Pattern Recognition, 2006. ICPR 2006. 18th International Conference on
  • Conference_Location
    Hong Kong
  • ISSN
    1051-4651
  • Print_ISBN
    0-7695-2521-0
  • Type

    conf

  • DOI
    10.1109/ICPR.2006.897
  • Filename
    1698957
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=457013