Osuna-González, G.González-Jiménez, Luis E.Carbajal-Espinosa, O.Loukianov, AlexanderBayro-Corrochano, Eduardo2015-10-162015-10-162014-11-20Osuna-González, G.; Gonzalez-Jimenez, L.E.; Carbajal-Espinosa, O.; Loukianov, A.; Bayro-Corrochano, E. (2014). Visual Servoing and Robust Object Manipulation Using Symmetries and Conformal Geometric Algebra. 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids); Madrid, Spain, November 18-20.9781479971756http://hdl.handle.net/11117/2584Object tracking and manipulation is an important process for many applications in robotics and computer vision. A novel 3D pose estimation of objects using reflectionally symmetry formulated in Conformal Geometric Algebra (CGA) is proposed in this work. The synthesis of the kinematics model for robots and a sliding mode controller using the CGA approach is described. Real time implementation results are presented for the pose estimation of object using a stereo vision system.engSymmetriesObject ManipulationVisual Servoinginfo:eu-repo/semantics/conferencePaper