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

在这个项目中，我们将研究使用几何代数（GA）的数学框架在3D重建的基础上自主草莓采摘系统。传统上，线性和向量代数用于研究3D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，以产生衍生物。使用遗传算法，我们得到了一个共同的代数框架，其中的视觉和运动学可以表示。我们的目标是产生一个强大的框架来解决立体视觉三维重建中出现的问题，并通过先进的GA模型的全方位驱动水果采摘系统的运动估计。

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.