Robotics, Vision and Control: Fundamental Algorithms In MATLAB, Second Edition

Robotics, Vision and Control: Fundamental Algorithms In MATLAB, Second Edition
PDF
  • eBook:
    Robotics, Vision and Control: Fundamental Algorithms In MATLAB, Second Edition
  • Author:
    Peter Corke
  • Edition:
    2nd ed. 2017 Edition
  • Categories:
  • Data:
    May 23, 2017
  • ISBN:
    3319544128
  • ISBN-13:
    9783319544120
  • Language:
    English
  • Pages:
    722 pages
  • Format:
    PDF

Book Description
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.

Content

1. Introduction

Part I - Foundations
2. Representing Position and Orientation
3. Time and Motion

Part II - Mobile Robots
4. Mobile Robot Vehicles
5. Navigation
6. Localization

Part III - Arm-Type Robots
7. Robot Arm Kinematics
8. Manipulator Velocity
9. Dynamics and Control

Part IV - Computer Vision
10. Light and Color
11. Image Formation
12. Images and Image Processing
13. Image Feature Extraction
14. Using Multiple Images

Part V - Robotics, Vision and Control
15. Vision-Based Control
16. Advanced Visual Servoing

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