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International Conference on Modelling and Simulation for Autonomous Systems

MESAS 2018: Modelling and Simulation for Autonomous Systems pp 121–129Cite as

Monocular Kinematics Based on Geometric Algebras

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Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 11472))

Abstract

When reconstructing 3D scene by an autonomous system we usually use a pin hole camera. To adopt the result for a human vision, this camera must be replaced by a human eye-like device. Therefore we derive certain characteristics of this model in an appropriate mathematical formalism. In particular, we escribe the general position of a human eye and its movements using the notions of geometric algebra. The assumption is that the eye is focused on distant targets. As the main result, we describe the eye position and determine all axes of rotation available in the eye general position in terms of geometric algebra. All the expressions are based on medically traced laws of Donders’ and Listing.

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Acknowledgements

This research was supported by a grant of the Czech Science Foundation no. 17-21360S, “Advances in Snake-like Robot Control” and by a Grant No. FSI-S-17-4464.

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Authors and Affiliations

  1. Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czech Republic

    Marek Stodola

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  1. Marek Stodola
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Correspondence to Marek Stodola .

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Editors and Affiliations

  1. NATO Modelling and Simulation Centre of Excellence, Rome, Italy

    Jan Mazal

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Stodola, M. (2019). Monocular Kinematics Based on Geometric Algebras. In: Mazal, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2018. Lecture Notes in Computer Science(), vol 11472. Springer, Cham. https://doi.org/10.1007/978-3-030-14984-0_10

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  • DOI: https://doi.org/10.1007/978-3-030-14984-0_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-14983-3

  • Online ISBN: 978-3-030-14984-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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