Sensing and control on the sphere

Corke, Peter & Mahony, Robert (2009) Sensing and control on the sphere. In Pradalier, Cedric, Siegwart, Roland, & Hirzinger, Gerhard (Eds.) Robotics Research : The 14th International Symposium ISSR, Springer-Verlag Berlin Heidelberg, Lucerne, Switzerland, pp. 71-85.

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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.

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2 citations in Scopus
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ID Code: 33737
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: Robotics, Spherical Image Model, Attitude Estimation, Scene Structure Estimation, Spherical Visual Servoing, Unifying Concept, Sensor Fusion, Estimation, Control
DOI: 10.1007/978-3-642-19457-3_5
ISBN: 9783642194566
ISSN: 1610-742X
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2009 Springer
Deposited On: 12 Aug 2010 01:48
Last Modified: 29 Aug 2011 02:40

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