xxiii
Contents
14.5 Point Clouds .................................................... 503
14.5.1 Fitting a Plane
........................................... 503
14.5.2 Matching Two Sets of Points
............................... 505
14.6 Structured Light
................................................. 507
14.7 Applications
.................................................... 509
14.7.1 Perspective Correction
.................................... 509
14.7.2 Mosaicing
............................................... 512
14.7.3 Image Matching and Retrieval
.............................. 514
14.7.4 Visual Odometry
......................................... 520
14.8 Wrapping Up
................................................... 523
MATLAB and Toolbox Notes
...................................... 524
Further Reading
................................................. 524
Resources
....................................................... 528
Exercises
....................................................... 529
Part V Robotics, Vision and Control
.............................. 533
15 Vision-Based Control
............................................ 537
15.1 Position-Based Visual Servoing .................................... 538
15.2 Image-Based Visual Servoing ...................................... 541
15.2.1 Camera and Image Motion
................................ 542
15.2.2 Controlling Feature Motion
................................ 547
15.2.3 Estimating Feature Depth
................................. 551
15.2.4 Performance Issues ....................................... 554
15.3 Using Other Image Features ....................................... 556
15.3.1 Line Features
............................................ 556
15.3.2 Circle Features
........................................... 557
15.3.3 Photometric Features ..................................... 559
15.4 Wrapping Up
................................................... 560
Further Reading ................................................. 560
Exercises
....................................................... 562
16 Advanced Visual Servoing
........................................ 565
16.1 XY/Z-Partitioned IBVS
........................................... 565
16.2 IBVS Using Polar Coordinates ..................................... 568
16.3 IBVS for a Spherical Camera
....................................... 570
16.4 Applications
.................................................... 572
16.4.1 Arm-Type Robot ......................................... 572
16.4.2 Mobile Robot
............................................ 573
16.4.3 Aerial Robot ............................................. 576
16.5 Wrapping Up
................................................... 578
Further Reading ................................................. 578
Resources ....................................................... 579
Exercises
....................................................... 579
Appendices
..................................................... 581
A Installing the Toolboxes
.......................................... 583
B Linear Algebra Refresher
......................................... 587
C Geometry
...................................................... 595
D Lie Groups and Algebras
......................................... 611
E Linearization, Jacobians and Hessians .............................. 617
F Solving Systems of Equations
..................................... 621
G Gaussian Random Variables
...................................... 631
H Kalman Filter
................................................... 635
I Graphs
......................................................... 641
J Peak Finding .................................................... 645