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, Stanford

Contents

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 Ill 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

About the Author

Peter Corke is a robotics educator and researcher. He is known for his work in vision-based control and field robotics, as well as open-source robotics software and educational resources such as the QUT Robot Academy. He is a distinguished professor at the Queensland University of Technology and a technical advisor to several robotics companies. He was the Australian University Teacher of the Year in 2017 and is a fellow of the IEEE, the Australian Academy of Technology and Engineering, and the Australian Academy of Science. He received his PhD from the University of Melbourne.