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Sensing and Control on the Sphere

  • Conference paper
Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 70))

Abstract

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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Author information

Authors and Affiliations

  1. CSIRO ICT Centre, Australia

    Peter Corke

  2. Australian National University, Australia

    Robert Mahony

Authors
  1. Peter Corke
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  2. Robert Mahony
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Editor information

Editors and Affiliations

  1. Institute of Robotics and Intelligent Systems Autonomous Systems Lab , ETH Zürich, Tannenstrasse 3, 8092, Zürich, Switzerland

    Cédric Pradalier  & Roland Siegwart  & 

  2. Institute of Robotics and Mechatronics , German Aerospace Center (DLR), Münchner Strasse 20, 82234, Oberpfaffenhofen-Wessling, Germany

    Gerhard Hirzinger

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© 2011 Springer-Verlag Berlin Heidelberg

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Corke, P., Mahony, R. (2011). Sensing and Control on the Sphere. In: Pradalier, C., Siegwart, R., Hirzinger, G. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 70. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19457-3_5

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  • DOI: https://doi.org/10.1007/978-3-642-19457-3_5

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-19456-6

  • Online ISBN: 978-3-642-19457-3

  • eBook Packages: EngineeringEngineering (R0)

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