By Geoffrey Taylor, Lindsay Kleeman
As self sufficient robots extend into the provider area, new suggestions to the problem of working in household environments needs to be constructed. frequent adoption of provider robots calls for excessive robustness to environmental switch and operational put on, and minimum reliance on program particular wisdom. As such, wealthy sensing modalities similar to imaginative and prescient will play a crucial position of their luck. This publication takes steps in the direction of the conclusion of family robots by way of featuring an built-in platforms view of machine imaginative and prescient and robotics, protecting primary issues together with optimum sensor layout, visible servoing, 3D item modelling and popularity, and multi-cue monitoring, with a superior emphasis on robustness all through. With in-depth remedy of either idea and implementation, wide experimental effects and accomplished multimedia aid together with movies, VRML info, C++ code and lecture slides, this ebook has huge entice either theoretical and sensible roboticists and stands as a helpful instructing resource.
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Additional info for Visual Perception and Robotic Manipulation: 3D Object Recognition, Tracking and Hand-Eye Coordination
29). The usefulness of rectilinear stereo arises from a simple epipolar geometry that constrains corresponding stereo measurements to lie on the same scanline in both images, facilitating the search for stereo correspondences. Furthermore, the reconstruction equations have a simple form for rectilinear stereo. A particularly useful property of rectilinear stereo is that, for a general non-rectilinear conﬁguration, we can always recover equivalent rectilinear stereo measurements by applying a transformation known as projective rectiﬁcation.
Interestingly, it is straightforward to show that image and position-based control are equivalent for point-to-point alignment in a linear servoing framework . However, as with any approximate method, the performance of this class of controllers is bounded by the validity of the linear approximation. 3 Summary Sensor models play an important role in 3D model-based vision, which is a central theme of this book. 2 applied this framework to modelling the major components of a robotic vision system.
Kragi´c  describes a similar scheme using a set of image templates and associated poses in a principal components analysis framework. In this case, each object is also represented by an edge-based geometric model used to reﬁne the initial pose and track the object during grasping. In related work, Ekvall et al.  replace the image templates with colour cooccurrence histograms, which represent the spatial distribution of colour with scale and rotation independence. Objects are identiﬁed using a histogram similarity measure, and the pose is recovered as a weighted mean of the orientation associated with different views.