TY - GEN
T1 - Sensing and control on the sphere
AU - Corke, Peter
AU - Mahony, Robert
PY - 2011
Y1 - 2011
N2 - The advantages of a spherical imaging model are increasingly well recognized within the robotics community. Perhaps less well known is the use of the sphere for attitude estimation, control and scene structure estimation. This paper proposes the sphere as a unifying concept, not just for cameras, but for sensor fusion, estimation and control.We review and summarize relevant work in these areas and illustrate this with relevant simulation examples for spherical visual servoing and scene structure estimation.
AB - The advantages of a spherical imaging model are increasingly well recognized within the robotics community. Perhaps less well known is the use of the sphere for attitude estimation, control and scene structure estimation. This paper proposes the sphere as a unifying concept, not just for cameras, but for sensor fusion, estimation and control.We review and summarize relevant work in these areas and illustrate this with relevant simulation examples for spherical visual servoing and scene structure estimation.
UR - http://www.scopus.com/inward/record.url?scp=79958000210&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-19457-3_5
DO - 10.1007/978-3-642-19457-3_5
M3 - Conference contribution
SN - 9783642194566
T3 - Springer Tracts in Advanced Robotics
SP - 71
EP - 85
BT - Robotics Research - The 14th International Symposium ISRR
T2 - 14th International Symposium of Robotic Research, ISRR 2009
Y2 - 31 August 2009 through 3 September 2009
ER -