Self calibration method of binocular vision based on Conformal geometric algebra

We will study binocular vision for 6-DOF robotic manipulator in conformal geometric algebra approach. We will focus on the case where some information as relative cameras positions, has been lost. In particular, we will use the construction of the manipulator to infer a self calibration method for cameras position based in binocular vision with incomplete information.

A Spinor Model for Cascading Two-port Scattering Matrices In Conformal Geometric Algebra

Building on the work in [1], this paper shows how Conformal Geometric Algebra (CGA) can be used to model an arbitrary two-port scattering matrix as a rotation in four dimensional Minkowski space, known as a spinor. This spinor model plays the role of the wave-cascading matrix in conventional microwave network theory. Techniques to translate two-port scattering matrix in and out of spinor form are given. Once the translation is laid out, geometric interpretations are given to the physical properties of reciprocity, loss, and symmetry and some mathe- matical groups are identified. Methods to decompose a network into various sub-networks, are given. An example application of interpolating a 2-port network is provided demonstrating an advantage of the spinor model. Since rotations in four dimensional Minkowski space are Lorentz transformations, this model opens up the field of network theory to physicists familiar with relativity, and vice versa.