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

Download or read book Multi-View Geometry Based Visual Perception and Control of Robotic Systems written by Jian Chen and published by CRC Press. This book was released on 2018-06-14 with total page 361 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.