Abstract
Most of today’s mobile robots are equipped with some kind of omnidirectional camera. The advantages of such sensors in tasks like navigation, homing, appearance-based localization cannot be overlooked. In this paper, we address the basic questions of how to process omnidirectional signals, how to describe the intrinsic geometry of omnidirectional cameras with a single viewpoint, how to infer 3D motion, and how to place omnidirectional sensors efficiently to guarantee complete coverage.
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Daniilidis, K., Geyer, C., Isler, V., Makadia, A. (2003). Omnidirectional Sensing for Robot Control. In: Bicchi, A., Prattichizzo, D., Christensen, H.I. (eds) Control Problems in Robotics. Springer Tracts in Advanced Robotics, vol 4. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36224-X_12
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DOI: https://doi.org/10.1007/3-540-36224-X_12
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