Multi-View Geometry Based Visual Perception and Control of Robotic Systems

Jian Chen, Bingxi Jia, Kaixiang Zhang

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English

CRC Press
30 June 2020

Robotics

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.

By: Jian Chen, Bingxi Jia, Kaixiang Zhang
Imprint: CRC Press
Country of Publication: United Kingdom
Dimensions: Height: 234mm, Width: 156mm,
Weight: 1.570kg
ISBN: 9780367571467
ISBN 10: 0367571463
Pages: 342
Publication Date: 30 June 2020
Audience: Professional and scholarly , College/higher education , Undergraduate , Further / Higher Education
Format: Paperback
Publisher's Status: Active

1. Foundations: Robotics. 2. Multiple View Geometry. 3. Visual Perception of Robotics: Introduction to Visual Perception. 4. Two-view Geometry-based Road Scene Reconstruction. 5. Recursive Road Detection with Shadows. 6. Range Identification of Moving Objects Using a Single Camera. 7. Velocity and Range Identification of Moving Objects Using a Static-moving Camera System. 8. Visual Control of Robotics: Introduction to Visual Control. 9. Homography-based Visual Servo Tracking for a Fixed Camera Configuration with a Camera-in-hand Extension. 10. Navigation Function-based Visual Control with Field-of-view Constraints. 11. Robust Control for Moving Object Tracking with Trajectory Tracking Extension. 12. Trifocal Tensor-based Unified Tracking and Regulation of Wheeled Mobile Robots. 13. Homography-based Unified Tracking and Regulation of Wheeled Mobile Robots with Euclidean Reconstruction. 14. Conclusion and Future Research Directions.

Jian Chen in 2013 joined the Department of Control Science and Engineering, Zhejiang University, where he is currently a Professor with the College of Control Science and Engineering. He has been supported by the Chinese Recruitment Program of Global Youth Experts since 2013, and the Key Program of National Natural Science Foundation of China on Modeling and Control of Fuel Cell vehicles since 2015.

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Multi-View Geometry Based Visual Perception and Control of Robotic Systems

Jian Chen, Bingxi Jia, Kaixiang Zhang

$94.99

Paperback

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