Algorithms for Conic Fitting Through Given Proper and Improper Waypoints in Geometric Algebra for Conics

As an addition to proper points of the real plane, we introduce a representation of improper points, i.e. points at infinity, in terms of Geometric Algebra for Conics (GAC) and offer possible use of both types of points. More precisely, we present two algorithms fitting a conic to a dataset with a certain number of points lying on the conic precisely, referred to as the waypoints. Furthermore, we consider inclusion of one or two improper waypoints, which leads to the asymptotic directions of the fitted conic. The number of used waypoints may be up to four and we classify all the cases.