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

ISBN-13: 9780367571467 / Angielski / Miękka / 2020 / 342 str.

Jian Chen; Bingxi Jia; Kaixiang Zhang

Opis

This book describes visual perception and control methods for robotic systems that need to interact with the environment.

Spis treści

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.

O autorze

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.