It’s on GitHub

github-logo-in-a-rounded-square_318-40761-pngMy code base lives on GitHub spread across a few repositories:

Now and again I put a coherent bunch of code out as a release.  These used to be zip files but now are packaged as MATLAB’s self-installing .mltbx files.

Development history

For the longest time the toolboxes were maintained under SVN on my own server and later on Google Code.  Google Code is now a thing of the past but the full history can still be found here:


Visit the repository,

See full change history


Actually I started using RCS (back in the day), then CVS, then SVN and now Git…

The releases were:

RTB release 9 (September 2011)

Significant expansion to support the Robotics, Vision & Control book. Major additions include:

  • changes of class names for arm-type robots
  • mobile robot control, planning and localization
  • quadrotor control
  • improved documentation

RTB release 8 (December 2008)

This is the first update to the toolbox since 2002. The main features of release 8 are:

  • integration with Matlab desktop, help and demo systems
  • variants of many functions that return a rotation rather than homog. transform matrix, for instance rotx() and trotx() return a 3×3 and 4×4 matrix respectively.
  • HTML format function help documentation (generated using m2html) integrated with help browswer
  • new robot models: Motoman, ABB, Fanuc
  • rpy2r and eul2r accept trajectories
  • fix errors in Simulink demos (due to code atrophy)
  • tested with Matlab 2008b
  • some functions have been retired
  • adopt the new MATLAB classdef object syntax

RTB release 7 (April 2002)

MEX files, Simulink models and modified Denavit-Hartenberg support. This was released to support the third edition of John Craig’s textbook where the exercises made use of RTB.

RTB release 6 (April 2001)

RTB release 5 (April 1999)

First release with objects. Before that everything was a matrix.

RTB release 4 (August 1996)

Corresponded to the article published in the IEEE Robotics & Automation magazine.

MVTB release 3 (September 2011)

Significant expansion to support the Robotics, Vision & Control book. Major additions include:

  • camera classes
  • feature classes
  • SIFT, SURF, graph-based segmentation, tracking, bag of words etc. ### release 2 (2005) ### release 1 (??)

MVTB release 2 (2005)

MVTB release 1 (1999)

The machine vision toolbox developed slowly during the 1990s to assist in research related to visual servoing, camera calibration, camera modeling, image processing.  The first release was in 1999.