Integration of Hough Transform of lines and planes in the framework of conformal geometric algebra for 2D and 3D robot vision

► 2D and 3D Hough transform together with conformal geometric algebra. ► Build 3D geometric maps using the geometric entities of lines and planes. ► Mobile robot relocation in a map using 2D Hough domain. ► Store complex 3D shapes in 3D Hough domain.