Group morphology with convolution algebras

Group morphology is an extension of mathematical morphology with classical Minkowski sum and difference operations generalized respectively to Minkowski product and quotient operations over arbitrary groups. We show that group morphology is a proper setting for unifying, formulating and solving a number of important problems, including translational and rotational configuration space problems, mechanism workspace computation, and symmetry detection. The proposed computational approach is based on group convolution algebras, which extend classical convolutions and the Fourier transform to non-commutative groups. In particular, we show that all Minkowski product and quotient operations may be represented implicitly as sublevel sets of the same real-valued convolution function.