Robotics, Vision and Control: Fundamental Algorithms In MATLAB, 2/e (Paperback)

Peter Corke

買這商品的人也買了...

商品描述

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

商品描述(中文翻譯)

機器視覺是機器人學和電腦視覺的結合,涉及將電腦演算法應用於從感測器獲取的數據。研究界已經開發了大量這樣的演算法,但對於新來者來說,這可能會令人生畏。作者在過去20多年中一直維護著兩個開源的MATLAB®工具箱,一個用於機器人學,一個用於視覺。它們提供了許多重要演算法的實現,並允許用戶處理真實問題,而不僅僅是簡單的例子。本書使得機器人學、視覺和控制的基本演算法對所有人都可理解。它以敘述的方式將理論、演算法和例子編織在一起,分別涵蓋了機器人學和電腦視覺。使用最新版本的工具箱,作者展示了如何使用僅僅幾行簡單的代碼分解和解決複雜問題。本書所涵蓋的主題是根據作者多年來作為機器人學和電腦視覺實踐者觀察到的真實問題而指導的。它以易於閱讀和吸收的方式寫成,包含了1000多個MATLAB和Simulink®的例子和400多個圖片。本書是對移動機器人、手臂機器人的基礎的深入介紹,然後介紹相機模型、影像處理、特徵提取和多視角幾何,最後通過廣泛討論視覺伺服系統將所有內容結合在一起。本書的第二版完全修訂、更新和擴充,增加了對李群、矩陣指數和扭曲;慣性導航;差動驅動機器人;格點規劃器;姿態圖SLAM和地圖生成;重組的手臂機器人運動學和動力學材料;串聯彈性致動器和操作空間控制;Lab色彩空間;光場相機;結構光、束調整和視覺里程計;以及光度視覺伺服。