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Sensing and control on the sphere

Corke, Peter Ian; Mahony, Robert


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...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
Source: International Symposium on Robotics Research (ISRR 2011) proceedings
DOI: 10.1007/978-3-642-19457-3_5


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