A Unified Language for Computer Vision and Robotics

Geometric algebra is an universal mathematical language which provides very comprehensive techniques for analyzing the complex geometric situations occurring in artiicial Perception Action Cycle systems. In the geometric algebra framework such a system is both easier to analyze and to control in real time computations. This paper describes the application of rotors and motors for tasks involving the algebra of the 3D kinematics. Using purely geometric derivations and the constraints for point and line correspondences in n-views projective invariants are computed and the projective depth is discussed in terms of the generalized cross-ratio.