Sensing and control on the sphere
Contribuinte(s) |
Pradalier, Cedric Siegwart, Roland Hirzinger, Gerhard |
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Data(s) |
01/09/2009
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Resumo |
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. |
Formato |
application/pdf |
Identificador | |
Publicador |
Springer-Verlag Berlin Heidelberg |
Relação |
http://eprints.qut.edu.au/33737/1/2011010651.E1.Corke.eprint.pdf DOI:10.1007/978-3-642-19457-3_5 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. |
Direitos |
Copyright 2009 Springer |
Fonte |
Faculty of Built Environment and Engineering; School of Engineering Systems |
Palavras-Chave | #090600 ELECTRICAL AND ELECTRONIC ENGINEERING #090602 Control Systems Robotics and Automation #Robotics #Spherical Image Model #Attitude Estimation #Scene Structure Estimation #Spherical Visual Servoing #Unifying Concept #Sensor Fusion #Estimation #Control |
Tipo |
Conference Paper |