V. Robotics, Vision & Control
This part of the book brings together much that we have learnt previously: robot kinematics and dynamics for arms and mobile robots; geometric aspects of image formation; and feature extraction. We use this knowledge to construct vision-based robot control, often called visual serving, but which humans call “hand-eye coordination”. We then go further and look at a number of complex examples from the fields of self-driving vehicles and autonomous drones.
- Visual servoing
- Position-based visual servoing (PBVS)
- Image-based visual servoing (IBVS)
- Line and circle based visual servo
- Real-world applications
- Lane and Vehicle Detection with a MonocularCamera
- Highway Lane Change Planner and Controller
- UAV Package Delivery
- Pick-and-PlaceWorkflow in Gazebo Using Point-Cloud Processing and RRT Path Planning