Robotic Vision

This textbook offers a tutorial introduction to robotics and Computer Vision which is light and easy to absorb.

The practice of robotic vision involves 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 codecan 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 light and color, camera modelling, image processing, feature extraction and multi-view geometry, and bring it all together in a visual servo system.

An authoritative book, reaching across fields, thoughtfully conceived and brilliantly accomplished

Oussama Khatib, Stanford

Robotic Vision is a readable introduction to the new field of robotic vision which weaves together theory, algorithms and examples in an accessible narrative that covers computer vision algorithms applicable to robotics Serves as tutorial introduction The book covers light and color, camera modelling, image processing, feature extraction and multi-view geometry The reader is encouraged to experiment and gain hands-on experience with these algorithms using MATLAB in conjunction with free companion software 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

Auteur
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.

Contenu
Introduction.- Part I: Foundations- Representing Position and Orientation.- Part II: Computer Vision.- Light and Color.- Images and Image Processing.- Image Feature Extraction.- Part III: The Geometry of Vision.- Image Formation.- Using Multiple Images.- Index.