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© 2011

Robotics, Vision and Control

Fundamental Algorithms in MATLAB®

Benefits

  • processing, feature extraction and epipolar geometry, then bring it all together in a visual servo system

  • Tutorial introduction to robotics and vision

  • Easy to read and absorb, including Matlab examples and lots of figures

  • Written in a light but informative style, easy-to-read and absorb, and includes a lot of Matlab examples and figures

  • Explains how to choose the right algorithm for a particular problem how to try it out without spending days coding and debugging

  • Makes the algorithms accessible (so author’s Toolbox code can be read to gain understanding) and provides instant gratification in just a couple of lines of MATLAB 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

  • Shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers

  • Walk through the fundamentals of robot kinematics, dynamics and joint level control, then camera models, image

Textbook

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 73)

Table of contents

  1. Front Matter
  2. Introduction

    1. Peter Corke
      Pages 1-11
  3. Part I Foundations

    1. Front Matter
      Pages 13-13
    2. Peter Corke
      Pages 15-41
    3. Peter Corke
      Pages 43-57
  4. Part II Mobile Robots

    1. Front Matter
      Pages 59-62
    2. Peter Corke
      Pages 65-86
    3. Peter Corke
      Pages 87-106
    4. Peter Corke
      Pages 107-131
  5. Part III Arm-Type Robots

    1. Front Matter
      Pages 133-135
    2. Peter Corke
      Pages 137-170
    3. Peter Corke
      Pages 171-190
    4. Peter Corke
      Pages 191-218
  6. Part IV Computer Vision

    1. Front Matter
      Pages 219-221
    2. Peter Corke
      Pages 223-250
    3. Peter Corke
      Pages 251-283
    4. Peter Corke
      Pages 285-333
    5. Peter Corke
      Pages 335-379
    6. Peter Corke
      Pages 381-449
  7. Part V Robotics, Vision and Control

    1. Front Matter
      Pages 451-453

About this book

Introduction

The practice of robotics and computer vision both involve the application of computational algorithms to data. Over the fairly recent history of the fields of robotics and computer vision a very large body of algorithms has been developed. However this body of knowledge is something of a barrier for anybody entering the field, or even looking to see if they want to enter the field — What is the right algorithm for a particular problem?, and importantly, How can I try it out without spending days coding and debugging it from the original research papers?

The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provide a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself.

The purpose of this book is to expand on the tutorial material provided with the  toolboxes, add many more examples, and to weave this into a narrative that covers robotics and computer vision separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and computer vision. It is written in a light but informative style, it is easy to read  and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals of robot kinematics, dynamics and joint level control, then camera models, image processing, feature extraction and epipolar geometry, and bring it all together in a visual servo system.

Keywords

Matlab Robotics Robotics Toolbox Vision Vision Toolbox

Authors and affiliations

  1. 1.School of Electrical Engineering and Computer ScienceQueensland University of Technology (QUT) BrisbaneAustralia

About the authors

Peter Corke has been appointed new Editor of the IEEE Robotics and Automation Magazine.

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)


Bibliographic information

Reviews

From the reviews:

“I like the book and the provided code. I think that this book is good to give you an overview of a bunch of key robotics topics … . If you are looking at testing an algorithm, getting a high level understanding, or getting a guide … to use the tool boxes then this book is for you. Also if you are a student looking to learn by implementation … then this book will be good for you.” (robotsforroticists.com, March, 2014)

“Good reading for starters in the field, but also for experienced researchers or practitioners. It is a pleasure to go through this book. It is written like an encyclopedia about robotics and computer vision … also, throughout the entire manuscript one can find the Matlab code for testing the presented theory. The author is also the creator of the two Matlab toolboxes robotics and machine vision, so there is probably no better way to understand and follow the topics than from the current book.” (Catalin Stoean, Zentralblatt MATH, Vol. 1233, 2012)