Generalized hough transform and conformal geometric algebra to detect lines and planes for building 3D maps and robot navigation

This paper describes a new approach for building 3D geometric maps using a geometric line and plane detector together with laser range finder and a stereo camera system. This detector is developed in such a way that one can related easily it with the conformal geometric algebra framework, thus detected lines and planes can be used for algebra of incidence computation to find geometric constraints useful to perceive special configurations in the 3D visual space for exploration, navigation and obstacle avoidance.