Search results for "Conformal geometric algebra"
showing 6 items of 6 documents
The non-degenerate Dupin cyclides in the space of spheres using Geometric Algebra
2012
International audience; Dupin cyclides are algebraic surfaces of degree 4 discovered by the French mathematician Pierre-Charles Dupin early in the 19th century and \textcolor{black}{were} introduced in CAD by R. Martin in 1982. A Dupin cyclide can be defined, in two different ways, as the envelope of a one-parameter family of oriented spheres. So, it is very interesting to model the Dupin cyclides in the space of spheres, space wherein each family of spheres can be seen as a conic curve. In this paper, we model the non-degenerate Dupin cyclides and the space of spheres using Conformal Geometric Algebra. This new approach permits us to benefit from the advantages of the use of Geometric Alge…
An Introduction to Geometric Algebra and Conics
2016
This chapter introduces the conics and characterizes them from an algebraic perspective. While in depth geometrical aspects of the conics lie outside the scopes of this chapter, this chapter is an opportunity to revisit concepts studied in other chapters such as matrix and determinant and assign a new geometric characterization to them.
ConformalALU: A Conformal Geometric Algebra Coprocessor for Medical Image Processing
2015
Medical imaging involves important computational geometric problems, such as image segmentation and analysis, shape approximation, three-dimensional (3D) modeling, and registration of volumetric data. In the last few years, Conformal Geometric Algebra (CGA), based on five-dimensional (5D) Clifford Algebra, is emerging as a new paradigm that offers simple and universal operators for the representation and solution of complex geometric problems. However, the widespread use of CGA has been so far hindered by its high dimensionality and computational complexity. This paper proposes a simplified formulation of the conformal geometric operations (reflections, rotations, translations, and uniform …
An Optimized Architecture for CGA Operations and Its Application to a Simulated Robotic Arm
2022
Conformal geometric algebra (CGA) is a new geometric computation tool that is attracting growing attention in many research fields, such as computer graphics, robotics, and computer vision. Regarding the robotic applications, new approaches based on CGA have been proposed to efficiently solve problems as the inverse kinematics and grasping of a robotic arm. The hardware acceleration of CGA operations is required to meet real-time performance requirements in embedded robotic platforms. In this paper, we present a novel embedded coprocessor for accelerating CGA operations in robotic tasks. Two robotic algorithms, namely, inverse kinematics and grasping of a human-arm-like kinematics chain, ar…
Calibration of the Norwegian motion laboratory using conformal geometric algebra
2017
This paper applies Conformal Geometric Algebra (CGA) as a tool for calibrating the robotic equipment found in the Norwegian Motion Laboratory. By using the inner product of CGA to measure the distance between a point and the surface of a plane/sphere, the least-squares method can be used to solve for the unknown parameters describing the plane/sphere in an efficient and intuitive way given n measured points. Positional data samples were acquired from using a high precision Laser tracker (FARO Xi), and the overall calibration error was found to be no more than 4.90mm, and the maximum standard deviation 3.25mm. In addition, the applied least-squares algorithm using CGA was twice as fast, when…
Implementation and evaluation of medical imaging techniques based on conformal geometric algebra
2020
Medical imaging tasks, such as segmentation, 3D modeling, and registration of medical images, involve complex geometric problems, usually solved by standard linear algebra and matrix calculations. In the last few decades, conformal geometric algebra (CGA) has emerged as a new approach to geometric computing that offers a simple and efficient representation of geometric objects and transformations. However, the practical use of CGA-based methods for big data image processing in medical imaging requires fast and efficient implementations of CGA operations to meet both real-time processing constraints and accuracy requirements. The purpose of this study is to present a novel implementation of …