Overview
- 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 absorb
- Explains 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 of the book series: Springer Tracts in Advanced Robotics (STAR, volume 118)
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Table of contents (16 chapters)
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Front Matter
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Foundations
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Front Matter
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Mobile Robots
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Front Matter
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Arm-Type Robots
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Front Matter
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Computer Vision
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Front Matter
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Robotics, Vision and Control
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Front Matter
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Keywords
About this book
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 practitionerof 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 andbrilliantly accomplished!”
OUSSAMA KHATIB, Stanford
Authors and Affiliations
About the author
The author is the organizer of the venerable Robotics Toolbox for Matlab http://www.petercorke.com/robot with 100.000 + downloads per year (as well as the Vision Toolbox for Matlab)
Peter Corke has been appointed new Editor of the IEEE Robotics and Automation Magazine.
Bibliographic Information
Book Title: Robotics, Vision and Control
Book Subtitle: Fundamental Algorithms In MATLAB® Second, Completely Revised, Extended And Updated Edition
Authors: Peter Corke
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-319-54413-7
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing AG 2017
eBook ISBN: 978-3-319-54413-7Published: 20 May 2017
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 2
Number of Pages: XXIX, 693
Number of Illustrations: 67 b/w illustrations, 335 illustrations in colour
Topics: Robotics and Automation, Artificial Intelligence, Control and Systems Theory, Image Processing and Computer Vision, Signal, Image and Speech Processing, Cognitive Psychology