Investigation of the use of Geometric Algebra for robotics kinematic and dynamic analysis with applications in selective harvesting

在这个项目中，我们将研究基于自主草莓采摘系统的三维重建中几何代数（GA）数学框架的使用。传统上，线性代数和向量代数用于研究三维重建和姿态估计中出现的挑战。然而，解决方案往往是非几何的，并涉及符号操作来产生衍生物。利用遗传算法，我们得到了一个可以表达视觉和运动学的通用代数框架。我们的目标是通过先进的遗传算法模型来解决立体视觉三维重建和全驱动水果采摘系统运动估计中出现的问题。

In this project we will investigate the use of the mathematical framework of Geometric Algebra (GA) in 3D reconstruction based on an autonomous strawberry picking system. Conventionally, linear and vector algebra are used to investigate the challenges arising in 3D reconstruction and pose estimation. However, the solutions are often non-geometric and involve symbolic manipulation to produce derivatives. Using GA, we get a common algebraic framework in which vision and kinematics can be expressed. We aim to produce a robust framework for solving the problems arising in stereo vision for 3D reconstruction, and motion estimation of omni-drive fruit picking systems via advanced GA models.