Abstract

It has been proven that a catadioptric pro jection can be modeled by an equivalent spherical pro jection. In this paper we present an extension and improvement of those ideas using the conformal geo- metric algebra, a modern framework for the pro jective space of hyper- spheres. Using this mathematical system, the analysis of diverse cata- dioptric mirrors becomes transparent and computationally simpler. As a result, the algebraic burden is reduced, allowing the user to work in a much more efiective framework for the development of algorithms for omnidirectional vision. This paper includes complementary experimental analysis related to omnidirectional vision guided robot navigation.