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.


The practice of robotics and computer vision each involve the application of computational algorithms to data. The research community has developed a very large body ...
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Code examples

All the code examples in the book are available as MATLAB Live Script files, one per chapter ...
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Teaching with the book

Video lessons for blended learning The Robot Academy, launched May 2017, is an online resource with over 200 video lessons available for use in class.  Each ...
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All line drawings and MATLAB generated figures shown in the book are available in electronic form ...
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A list of corrections to the book, as printed ...
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