A Novel Line Alignment Algorithm using Geometric Algebra	

Charalampos Matsantonis -- University of Cambridge	

This work explores the use of Geometric Algebra in aligning sets of 3D lines. We work in spherical space where bivectors represent the lines and rotors represent the rotations and translations. The process takes its inspiration from the ICP point matching algorithm and relies on the formation of cross-correlation and auto-correlation matrices. We investigate the performance of the algorithm in the presence of noise and compare with rotor extraction from points.