© 2017

Robotics, Vision and Control

Fundamental Algorithms In MATLAB® Second, Completely Revised, Extended And Updated Edition


Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 118)

Table of contents

  1. Front Matter
    Pages i-xxix
  2. Peter Corke
    Pages 1-14
  3. Foundations

    1. Front Matter
      Pages 15-15
    2. Peter Corke
      Pages 17-62
    3. Peter Corke
      Pages 63-92
  4. Mobile Robots

    1. Front Matter
      Pages 93-96
    2. Peter Corke
      Pages 99-124
    3. Peter Corke
      Pages 125-149
    4. Peter Corke
      Pages 151-187
  5. Arm-Type Robots

    1. Front Matter
      Pages 189-191
    2. Peter Corke
      Pages 193-228
    3. Peter Corke
      Pages 229-249
    4. Peter Corke
      Pages 251-281
  6. Computer Vision

    1. Front Matter
      Pages 283-285
    2. Peter Corke
      Pages 287-318
    3. Peter Corke
      Pages 319-357
    4. Peter Corke
      Pages 359-411
    5. Peter Corke
      Pages 413-458
    6. Peter Corke
      Pages 459-532
  7. Robotics, Vision and Control

    1. Front Matter
      Pages 533-535

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 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!”



Matlab Robotics Robotics Toolbox Vision Vision Toolbox Control Optimal Control Geometric Control Theory Algebraic Geometry Optimization Neuroscience

Authors and affiliations

  1. 1.School of Engineering SystemsQueensland University of TechnologyBrisbaneAustralia

About the authors

The author is the organizer of the venerable Robotics Toolbox for Matlab 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