Omnidirectional Sensing for Robot Control

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


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.


Robot Control Simple Polygon Polar Point Camera Location Absolute Conic 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  1. 1.GRASP Laboratory and Department of Computer and Information ScienceUniversity of PennsylvaniaUSA

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