Abstract
In this chapter we will apply the classic theory of Harmonic Analysis and the Conformal Geometric Algebra to evaluate the Radon transform on the unit sphere 2 S and on the rotation group 3 SO to recover the 3D camera rotation. Since the images taken by omnidirectional sensors can be mapped to the sphere, the problem of attitude estimation of a 3D camera rotation can be treated as a problem of estimating rotations between spherical images.
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