Camera Motion Correction with PGA

Danail Brezov*, Michael Werman

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


In this paper we study the geometry and kinematics of stabilizing a moving camera in order to track a stationary scene both in the 2D and 3D setting. This is being done initially in a rather straightforward manner, using the tools of analytic and differential geometry, after which we discuss the advantages of the so-called ‘projective geometric algebra’ (PGA) approach in this context. In the planar case one can easily get equivalent results with complex numbers, but in 3D it is a convenient substitute for Plücker line geometry and the theory of screws. While a lot can be done using quaternions and differential geometry, PGA is quite handy when there are different rotation or screw axes involved. Its basic constructions and properties are briefly summarized in the appendix.

Original languageAmerican English
Title of host publicationAdvances in Computer Graphics - 40th Computer Graphics International Conference, CGI 2023, Proceedings
EditorsBin Sheng, Lei Bi, Jinman Kim, Nadia Magnenat-Thalmann, Daniel Thalmann
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages13
ISBN (Print)9783031500770
StatePublished - 2023
Event40th Computer Graphics International Conference, CGI 2023 - Shanghai, China
Duration: 28 Aug 20231 Sep 2023

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume14498 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference40th Computer Graphics International Conference, CGI 2023

Bibliographical note

Publisher Copyright:
© 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.


  • PGA
  • attitude kinematics
  • camera motion correction
  • differential geometry
  • surveillance drones


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