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

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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.