ROBOTICS, VISION & CONTROL

Peter Corke

Springer

2017

Abstract

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.

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.

Contents:

Introduction;

Foundations: representing position and orientation, time and motion;

Mobile robots: mobile robot vehicles, localization;

Arm-type robots: robot arm kinematics, manipulator velocity, dynamics and control;

Computer vision: light and color, image formation, images and image processing, image feature extraction, using multiple images;

Robotics, vision and control: vision-based control, advanced visual servoing