Robotics, Vision and Control

Robotics, Vision and Control offers a comprehensive introduction to the fusion of robotics, computer vision, and control theory. Designed to bridge theory and practice, this book demystifies the wide array of algorithms used in robotics and vision, making them accessible to both newcomers and experienced practitioners. Through a blend of fundamental theory, practical algorithms, and real-world examples, readers are guided step by step in tackling complex challenges using straightforward MATLAB code. For over two decades, the author has maintained influential open-source MATLAB toolboxes for robotics and vision, which serve as the backbone of many of the examples found throughout the text. This revised and extended second edition weaves together topics such as mobile and arm robots, camera models, image processing, feature extraction, and multi-view geometry with an in-depth discussion on visual servo systems. Advanced concepts including Lie groups, matrix exponentials, inertial navigation, differential drive robots, lattice planners, pose-graph SLAM, and state-of-the-art visual odometry techniques are also explored. With over 400 figures and more than 1000 MATLAB and Simulink examples spread across 720 pages, Robotics, Vision and Control provides a detailed walkthrough of both established methods and innovative advancements. It is a valuable resource for practitioners looking to apply robust, efficient solutions in robotics and computer vision while grounding their work in solid theoretical foundations.