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. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, supported by two MATLAB® Toolboxes. 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 a light but informative style, it is easy to read and absorb, and includes over 1000 MATLAB® and Simulink® examples and figures. The book is a walk through the fundamentals of mobile robots, navigation, localization, arm-robot kinematics, dynamics and joint level control, 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.
“An authoritative book, reaching across fields, thoughtfully conceived, and brilliantly accomplished!” — OUSSAMA KHATIB, Stanford
The second edition, published in 2017, has been completely revised, extended and updated, with 724 pages and 492 images.