{"product_id":"9783319359076","title":"Springer Tracts in Advanced Robotics: Unifying Vision and Control in Generic Approaches","description":"\u003ch1\u003eSpringer Tracts in Advanced Robotics: Unifying Vision and Control in Generic Approaches\u003c\/h1\u003e \u003ch2\u003eBecerra, Héctor . M; Sagüés, Carlos\u003c\/h2\u003e \u003cp\u003e\u003c\/p\u003e\u003cp\u003eVision-based control of wheeled mobile robots is an interesting field of research from a scientific and even social point of view due to its potential applicability. This book presents a formal treatment of some aspects of control theory applied to the problem of vision-based pose regulation of wheeled mobile robots. In this problem, the robot has to reach a desired position and orientation, which are specified by a target image. It is faced in such a way that vision and control are unified to achieve stability of the closed loop, a large region of convergence, without local minima and good robustness against parametric uncertainty. Three different control schemes that rely on monocular vision as unique sensor are presented and evaluated experimentally. A common benefit of these approaches is that they are valid for imaging systems obeying approximately a central projection model, e.g., conventional cameras, catadioptric systems and some fisheye cameras. Thus, the presented control schemes are generic approaches. A minimum set of visual measurements, integrated in adequate task functions, are taken from a geometric constraint imposed between corresponding image features. Particularly, the epipolar geometry and the trifocal tensor are exploited since they can be used for generic scenes. A detailed experimental evaluation is presented for each control scheme.\u003c\/p\u003e \u003ch3\u003eDetails\u003c\/h3\u003e \u003cp\u003ePublished by: Springer\u003c\/p\u003e \u003cp\u003ePublication Date: 2016-09-03\u003c\/p\u003e \u003cp\u003eFormat: Paperback\u003c\/p\u003e \u003cp\u003eISBN-13: 9783319359076\u003c\/p\u003e \u003cp\u003eDOI: 10.1007\/978-3-319-05783-5\u003c\/p\u003e \u003cp\u003eDimensions: 235cm x155cm\u003c\/p\u003e \u003cp\u003ePages: 118\u003c\/p\u003e ","brand":"Springer International Publishing","offers":[{"title":"Default Title","offer_id":45378375450764,"sku":"9783319359076","price":98.99,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0710\/9545\/1788\/files\/9783319359076.jpg?v=1772805018","url":"https:\/\/lateknightbooks.com\/products\/9783319359076","provider":"Late Knight Books and Services, LLC","version":"1.0","type":"link"}