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.
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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