By Zhihui X. (ed.)

ISBN-10: 9537619214

ISBN-13: 9789537619213

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2001). 4572, (2001), pp. 51-60, Newton USA Cao, Z. ; Liu, S. Y. & Röning, J. (2007). Omni-directional Vision Localization Based on Particle Filter, Image and Graphics 2007, Fourth International Conference , pp. ; Delahoche, L. & Delafosse, M. (2005). Robotic Assistance: an Automatic Wheelchair Tracking and Following Functionality by Omnidirectional Vision, Proceedings of the 2005 IEEE International Conference on Intelligent Robots and Systems, pp. 2560-2565, ISBN: 0-7803-8912-3, Las Vegas USA Cho, J.

3. 3 Inversion and the conformal geometric algebra In the conformal geometric algebra, the conformal transformations are represented as versors [7]. In particular, the versor of the inversion is a sphere, and it is applied in the same way as the rotor, or the translator. Given a sphere of radius r centered at c represented by the vector (39) the inversion of a point X with respect to S is 38 Computer Vision (40) To clarify the above equation, let us analyze the special case when S is a unit sphere, centered at origin.

The interaction matrix L ( s ,z ) requires explicitly the depth and we suppose that z can be b. directly related to the camera kinematic screw vc. In that case, we are brought back to the case of the point and we only have to solve a system similar to the one given by (4). The interaction matrix L ( s ,z ) depends implicitly on a model of the depth through the Apq coefficients for instance. In such a case, to provide a generic framework, we propose to apply the results obtained for the points to compute the needed parameters.

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Computer vision CsIp by Zhihui X. (ed.)

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