Robotic vision, the combination of robotics and computer vision, involves the application of computer algorithms to data acquired from sensors. The research community has developed a large body of such algorithms but for a...Show More
Robotic vision, the combination of robotics and computer vision, involves the application of computer algorithms to data acquired from sensors. The research community has developed a large body of such algorithms but for a newcomer to the field this can be quite daunting. For over 20 years the author has maintained two open-source MATLAB® Toolboxes, one for robotics and one for vision. They provide implementations of many important algorithms and allow users to work with real problems, not just trivial examples. This book makes the fundamental algorithms of robotics, vision and control accessible to all. It weaves together theory, algorithms and examples in a narrative that covers robotics and computer vision separately and together. Using the latest versions of the Toolboxes the author shows how complex problems can be decomposed and solved using just a few simple lines of code. The topics covered are guided by real problems observed by the author over many years as a practitioner of both robotics and computer vision. It is written in an accessible but informative style, easy to read and absorb, and includes over 1000 MATLAB and Simulink® examples and over 400 figures. The book is a real walk through the fundamentals of mobile robots, arm robots. then camera models, image processing, feature extraction and multi-view geometry and finally bringing it all together with an extensive discussion of visual servo systems. This second edition is completely revised, updated and extended with coverage of Lie groups, matrix exponentials and twists; inertial navigation; differential drive robots; lattice planners; pose-graph SLAM and map making; restructured material on arm-robot kinematics and dynamics; series-elastic actuators and operational-space control; Lab color spaces; light field cameras; structured light, bundle adjustment and visual odometry; and photometric visual servoing.
“An authoritative book, reaching across fields, thoughtfully conceived and brilliantly accomplished!”
OUSSAMA KHATIB, StanfordShow Less
Serves as tutorial introduction, now in a completely revised, extended and updated edition
Includes a lot of Matlab examples and figures and is written in a light but informative style, easy-to-read and absorbExplains how to choose the right algorithm to decompose and solve complex problems, using just a few simple lines of code
Demonstrates how the code can also be the starting point for new work via writing programs based on Toolbox functions, or modifying the Toolbox code itself
Walks through the fundamentals of robot kinematics, dynamics and joint level control, then camera models, image processing, feature extraction and epipolar geometry, then brings it all together in a?visual servo system?
Part I Foundations
Part II Mobile Robots
Part III Arm-type Robots
Part IV Vision
Part V Robotics and Vision.