Robotics, Vision and Control: Fundamental Algorithms in Python, 3rd Edition

Foreword
Preface
Contents
Nomenclature
1 Introduction
	1.1 A Brief History of Robots
	1.2 Types of Robots
	1.3 Definition of a Robot
	1.4 Robotic Vision
	1.5 Ethical Considerations
	1.6 About the Book
I Foundations
	2 Representing Position and Orientation
		2.1 Foundations
		2.2 Working in Two Dimensions (2D)
		2.3 Working in Three Dimensions (3D)
		2.4 Advanced Topics
		2.5 Using the Toolbox
		2.6 Wrapping Up
	3 Time and Motion
		3.1 Time-Varying Pose
		3.2 Accelerating Bodies and Reference Frames
		3.3 Creating Time-Varying Pose
		3.4 Application: Inertial Navigation
		3.5 Wrapping Up
II Mobile Robotics
	4 Mobile Robot Vehicles
		4.1 Wheeled Mobile Robots
		4.2 Aerial Robots
		4.3 Advanced Topics
		4.4 Wrapping Up
	5 Navigation
		5.1 Introduction to Reactive Navigation
		5.2 Introduction to Map-Based Navigation
		5.3 Planning with a Graph-Based Map
		5.4 Planning with an Occupancy-Grid Map
		5.5 Planning with Roadmaps
		5.6 Planning Driveable Paths
		5.7 Advanced Topics
		5.8 Wrapping Up
	6 Localization and Mapping
		6.1 Dead Reckoning Using Odometry
		6.2 Localizing with a Landmark Map
		6.3 Creating a Landmark Map
		6.4 Simultaneous Localization and Mapping
		6.5 Pose-Graph SLAM
		6.6 Sequential Monte-Carlo Localization
		6.7 Rao-Blackwellized SLAM
		6.8 Application: Lidar
		6.9 Wrapping Up
III Robot Manipulators
	7 Robot Arm Kinematics
		7.1 Forward Kinematics
		7.2 Inverse Kinematics
		7.3 Trajectories
		7.4 Applications
		7.5 Advanced Topics
		7.6 Wrapping Up
	8 Manipulator Velocity
		8.1 Manipulator Jacobian
		8.2 Application: Resolved-Rate Motion Control
		8.3 Jacobian Condition and Manipulability
		8.4 Force Relationships
		8.5 Numerical Inverse Kinematics
		8.6 Advanced Topics
		8.7 Wrapping Up
	9 Dynamics and Control
		9.1 Independent Joint Control
		9.2 Rigid-Body Equations of Motion
		9.3 Forward Dynamics
		9.4 Rigid-Body Dynamics Compensation
		9.5 Task-Space Dynamics and Control
		9.6 Applications
		9.7 Wrapping Up
IV Computer Vision
	10 Light and Color
		10.1 Spectral Representation of Light
		10.2 Color
		10.3 Advanced Topics
		10.4 Application: Color Images
		10.5 Wrapping Up
	11 Images and Image Processing
		11.1 Obtaining an Image
		11.2 Pixel Value Distribution
		11.3 Monadic Operations
		11.4 Dyadic Operations
		11.5 Spatial Operations
		11.6 Mathematical Morphology
		11.7 Shape Changing
		11.8 Wrapping Up
	12 Image Feature Extraction
		12.1 Region Features
		12.2 Line Features
		12.3 Point Features
		12.4 Applications
		12.5 Wrapping Up
	13 Image Formation
		13.1 Perspective Camera
		13.2 Camera Calibration
		13.3 Wide Field-of-View Cameras
		13.4 Unified Imaging Model
		13.5 Novel Cameras
		13.6 Applications
		13.7 Advanced Topics
		13.8 Wrapping Up
	14 Using Multiple Images
		14.1 Point Feature Correspondence
		14.2 Geometry of Multiple Views
		14.3 Sparse Stereo
		14.4 Dense Stereo
		14.5 Anaglyphs
		14.6 Other Depth Sensing Technologies
		14.7 Point Clouds
		14.8 Applications
		14.9 Wrapping Up
V Vision-Based Control
	15 Vision-Based Control
		15.1 Position-Based Visual Servoing
		15.2 Image-Based Visual Servoing
		15.3 Using Other Image Features
		15.4 Wrapping Up
	16 Advanced Visual Servoing
		16.1 XY/Z-Partitioned IBVS
		16.2 IBVS Using Polar Coordinates
		16.3 IBVS for a Spherical Camera
		16.4 Applications
		16.5 Wrapping Up
Supplementary Information
	A Installing the Toolboxes
	B Linear Algebra
	C Geometry
	D Lie Groups and Algebras
	E Linearization, Jacobians and Hessians
	F Solving Systems of Equations
	G Gaussian Random Variables
	H Kalman Filter
	I Graphs
	J Peak Finding
	References
	Index of People
	Index of Functions, Classes and MethodsClasses are shown in bold, methods are prefixed by a dot. Other entries are functions.
	Index of ModelsThese block diagram models are included in the rvc3python package in the folder models. To run them requires the bdsim package.
	General Index