Motor algebra for 3D kinematics: The case of the hand-eye calibration
JOURNAL OF MATHEMATICAL IMAGING AND VISION, 13 (2):
79-100 (October 2000)Abstract
In this paper we apply the Clifford geometric algebra for solving
problems of visually guided robotics. In particular, using the algebra
of motors we model the 3D rigid motion transformation of points,
lines and planes useful for computer Vision and robotics. The effectiveness
of the Clifford algebra representation is illustrated by the example
of the hand-eye calibration. It is shown that the problem of the
hand-eye calibration is equivalent to the estimation of motion of
lines. The authors developed a new linear algorithm which estimates
simultaneously translation and rotation as components of rigid motion.
Description
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