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Control Problems in Robotics pp 183–197Cite as

Omnidirectional Sensing for Robot Control

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 4))

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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Author information

Authors and Affiliations

  1. GRASP Laboratory and Department of Computer and Information Science, University of Pennsylvania, USA

    Kostas Daniilidis, Christopher Geyer, Volkan Isler & Ameesh Makadia

Authors
  1. Kostas Daniilidis
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  2. Christopher Geyer
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  3. Volkan Isler
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  4. Ameesh Makadia
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Editor information

Editors and Affiliations

  1. Centro Interdipartimentale di Ricerca, “Enrico Piaggio”, Università di Pisa, Via Diotisalvi, 2, 56100, Pisa, Italy

    Antonio Bicchi

  2. Dipartimento di Ingegneria dell’Informazione Facoltà di Ingegnerici, Università di Siena, Via Roma, 56, 53100, Siena, Italy

    Domenico Prattichizzo

  3. Centre for Autonomous Systems CVAP/NADA, Kungliga Tekniska Högskolan, 10044, Stockholm, Sweden

    Henrik Iskov Christensen

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© 2003 Springer-Verlag Berlin Heidelberg

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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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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00251-2

  • Online ISBN: 978-3-540-36224-1

  • eBook Packages: Springer Book Archive

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