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Author : Peter I. Corke
Publisher : Taylor & Francis Group
Page : 390 pages
File Size : 45,7 Mb
Release : 1996
Category : Technology & Engineering
ISBN : STANFORD:36105022381458
Author : Peter Corke
Publisher : Springer
Page : 572 pages
File Size : 43,9 Mb
Release : 2011-09-05
Category : Technology & Engineering
ISBN : 9783642201448
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. Additional material is provided at http://www.petercorke.com/RVC
Author : Koichi Hashimoto
Publisher : World Scientific
Page : 378 pages
File Size : 51,9 Mb
Release : 1993
Category : Technology & Engineering
ISBN : 9810246064
This book treats visual feedback control of mechanical systems, mostly robot manipulators. It not only deals with image processing techniques and robot control schemes but also covers the latest investigation of the design of the visual servo mechanism based on modern linear and nonlinear control theory, the adaptive control scheme, fuzzy logic, and neural networks. New concepts for utilizing visual sensory information for real-time manipulator control are derived and the performances are evaluated through simulations and/or experiments.The contributors to this book are robotics specialists from all over the world. The book gives a practical perspective on visual servoing to researchers, engineers, and students working in this area.
Author : Bruno Siciliano,Lorenzo Sciavicco,Luigi Villani,Giuseppe Oriolo
Publisher : Springer Science & Business Media
Page : 644 pages
File Size : 52,5 Mb
Release : 2010-08-20
Category : Technology & Engineering
ISBN : 9781846286414
Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
Author : Garcia-Rodriguez, Jose
Publisher : IGI Global
Page : 535 pages
File Size : 41,8 Mb
Release : 2012-12-31
Category : Technology & Engineering
ISBN : 9781466627031
Robotic systems consist of object or scene recognition, vision-based motion control, vision-based mapping, and dense range sensing, and are used for identification and navigation. As these computer vision and robotic connections continue to develop, the benefits of vision technology including savings, improved quality, reliability, safety, and productivity are revealed. Robotic Vision: Technologies for Machine Learning and Vision Applications is a comprehensive collection which highlights a solid framework for understanding existing work and planning future research. This book includes current research on the fields of robotics, machine vision, image processing and pattern recognition that is important to applying machine vision methods in the real world.
Author : A. Pugh
Publisher : Springer Science & Business Media
Page : 347 pages
File Size : 54,6 Mb
Release : 2013-06-29
Category : Technology & Engineering
ISBN : 9783662097717
Over the past five years robot vision has emerged as a subject area with its own identity. A text based on the proceedings of the Symposium on Computer Vision and Sensor-based Robots held at the General Motors Research Laboratories, Warren, Michigan in 1978, was published by Plenum Press in 1979. This book, edited by George G. Dodd and Lothar Rosso!, probably represented the first identifiable book covering some aspects of robot vision. The subject of robot vision and sensory controls (RoViSeC) occupied an entire international conference held in the Hilton Hotel in Stratford, England in May 1981. This was followed by a second RoViSeC held in Stuttgart, Germany in November 1982. The large attendance at the Stratford conference and the obvious interest in the subject of robot vision at international robot meetings, provides the stimulus for this current collection of papers. Users and researchers entering the field of robot vision for the first time will encounter a bewildering array of publications on all aspects of computer vision of which robot vision forms a part. It is the grey area dividing the different aspects of computer vision which is not easy to identify. Even those involved in research sometimes find difficulty in separating the essential differences between vision for automated inspection and vision for robot applications. Both of these are to some extent applications of pattern recognition with the underlying philosophy of each defining the techniques used.
Author : Jian Chen,Bingxi Jia,Kaixiang Zhang
Publisher : CRC Press
Page : 303 pages
File Size : 41,5 Mb
Release : 2018-06-14
Category : Computers
ISBN : 9780429951220
This book describes visual perception and control methods for robotic systems that need to interact with the environment. Multiple view geometry is utilized to extract low-dimensional geometric information from abundant and high-dimensional image information, making it convenient to develop general solutions for robot perception and control tasks. In this book, multiple view geometry is used for geometric modeling and scaled pose estimation. Then Lyapunov methods are applied to design stabilizing control laws in the presence of model uncertainties and multiple constraints.
Author : Geoffrey Taylor,Lindsay Kleeman
Publisher : Springer
Page : 218 pages
File Size : 47,7 Mb
Release : 2008-08-18
Category : Technology & Engineering
ISBN : 9783540334552
This book moves toward the realization of domestic robots by presenting an integrated view of computer vision and robotics, covering fundamental topics including optimal sensor design, visual servo-ing, 3D object modelling and recognition, and multi-cue tracking, emphasizing robustness throughout. Covering theory and implementation, experimental results and comprehensive multimedia support including video clips, VRML data, C++ code and lecture slides, this book is a practical reference for roboticists and a valuable teaching resource.
Author : Peter Corke
Publisher : Springer Nature
Page : 412 pages
File Size : 46,9 Mb
Release : 2021-10-15
Category : Technology & Engineering
ISBN : 9783030791759
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 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 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
Author : Junzhi Yu,Xingyu Chen,Shihan Kong
Publisher : CRC Press
Page : 251 pages
File Size : 52,8 Mb
Release : 2021-02-28
Category : Computers
ISBN : 9781000346596
Visual Perception and Control of Underwater Robots covers theories and applications from aquatic visual perception and underwater robotics. Within the framework of visual perception for underwater operations, image restoration, binocular measurement, and object detection are addressed. More specifically, the book includes adversarial critic learning for visual restoration, NSGA-II-based calibration for binocular measurement, prior knowledge refinement for object detection, analysis of temporal detection performance, as well as the effect of the aquatic data domain on object detection. With the aid of visual perception technologies, two up-to-date underwater robot systems are demonstrated. The first system focuses on underwater robotic operation for the task of object collection in the sea. The second is an untethered biomimetic robotic fish with a camera stabilizer, its control methods based on visual tracking. The authors provide a self-contained and comprehensive guide to understand underwater visual perception and control. Bridging the gap between theory and practice in underwater vision, the book features implementable algorithms, numerical examples, and tests, where codes are publicly available. Additionally, the mainstream technologies covered in the book include deep learning, adversarial learning, evolutionary computation, robust control, and underwater bionics. Researchers, senior undergraduate and graduate students, and engineers dealing with underwater visual perception and control will benefit from this work.
Author : King Sun Fu,Rafael C. Gonzalez,C. S. George Lee
Publisher : McGraw-Hill Companies
Page : 616 pages
File Size : 40,7 Mb
Release : 1987
Category : Technology & Engineering
ISBN : UCSD:31822004919296
Author : Jorge Pomares
Publisher : MDPI
Page : 166 pages
File Size : 43,7 Mb
Release : 2021-08-31
Category : Technology & Engineering
ISBN : 9783036503448
Visual servoing is a well-known approach to guide robots using visual information. Image processing, robotics, and control theory are combined in order to control the motion of a robot depending on the visual information extracted from the images captured by one or several cameras. With respect to vision issues, a number of issues are currently being addressed by ongoing research, such as the use of different types of image features (or different types of cameras such as RGBD cameras), image processing at high velocity, and convergence properties. As shown in this book, the use of new control schemes allows the system to behave more robustly, efficiently, or compliantly, with fewer delays. Related issues such as optimal and robust approaches, direct control, path tracking, or sensor fusion are also addressed. Additionally, we can currently find visual servoing systems being applied in a number of different domains. This book considers various aspects of visual servoing systems, such as the design of new strategies for their application to parallel robots, mobile manipulators, teleoperation, and the application of this type of control system in new areas.
Author : Peter Corke
Publisher : Springer Science & Business Media
Page : 574 pages
File Size : 50,9 Mb
Release : 2011-11-03
Category : Technology & Engineering
ISBN : 9783642201431
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. Additional material is provided at http://www.petercorke.com/RVC
Author : Erik Valdemar Cuevas Jiménez,Daniel Zaldívar Navarro,Raúl Rojas
Publisher : Cuvillier Verlag
Page : 229 pages
File Size : 46,6 Mb
Release : 2007-01-08
Category : Computers
ISBN : 9783867271080
In this paper, an active vision system is developed which is based on image strategy. The image based control structure uses the optical flow algorithm for motion detection of an object in a visual scene. Because the optical flow is very sensitive to changes in illumination or to the quality of the video, it was necessary to use median filtering and erosion and dilatation morphological operations for the decrease of erroneous blobs residing in individual frames. Since the image coordinates of the object are subjected to noise, the Kalman filtering technique is adopted for robust estimation. A fuzzy controller based on the fuzzy condensed algorithm allows real time work for each captured frame. Finally, the proposed active vision system has been simulated in the development/simulation environment Matlab/Simulink.
Author : I. Aleksander
Publisher : Springer Science & Business Media
Page : 228 pages
File Size : 54,5 Mb
Release : 2012-12-06
Category : Science
ISBN : 9781468468557
I. ALEKSANDER Department of Electrical Engineering and Electronics BruneI University, England The three key words that appear in the title of this book need some clarification. First, how far does the word robot reach in the context of indus trial automation? There is an argument maintaining that this range is not fixed, but increases with advancing technology. The most limited definition of the robot is also the earliest. The history is worth following because it provides a convincing backdrop to the central point of this book: vision is likely to epitomize the technolo gical advance, having the greatest effect in enlarging the definition and range of activity of robots. In the mid 1950s it was foreseen that a purely mechanical arm-like device could be used to move objects between two fixed locations. This was seen to be cost-effective only if the task was to remain fixed for some time. The need to change tasks and therefore the level of programmability of the robot was a key issue in the broadening of robot activities. Robots installed in industry in the early 1960s derived their programmability from a device called apinboard. Ver tical wires were energized sequentially in time, while horizontal wires, when energized, would trigger off elementary actions in the manipulator arm. The task of reprogramming was a huge one, as pins had to be reinserted in the board, connecting steps in time with robot actions.