E-Book Overview
As autonomous robots expand into the service domain, new solutions to the challenge of operating in domestic environments must be developed. Widespread adoption of service robots demands high robustness to environmental change and operational wear, and minimal reliance on application specific knowledge. As such, rich sensing modalities such as vision will play a central role in their success. This book takes steps towards the realization of domestic robots by presenting an integrated systems view of computer vision and robotics, covering fundamental topics including optimal sensor design, visual servoing, 3D object modelling and recognition, and multi-cue tracking, with a solid emphasis on robustness throughout. With in-depth treatment of both theory and implementation, extensive experimental results and comprehensive multimedia support including video clips, VRML data, C++ code and lecture slides, this book has wide appeal to both theoretical and practical roboticists and stands as a valuable teaching resource.
E-Book Content
Springer Tracts in Advanced Robotics Volume 26 Editors: Bruno Siciliano · Oussama Khatib · Frans Groen
Springer Tracts in Advanced Robotics Edited by B. Siciliano, O. Khatib, and F. Groen
Vol. 25: Corke, P.; Sukkarieh, S. (Eds.) Field and Service Robotics 580 p. 2006 [3-540-33452-1] Vol. 24: Yuta, S.; Asama, H.; Thrun, S.; Prassler, E.; Tsubouchi, T. (Eds.) Field and Service Robotics 550 p. 2006 [3-540-32801-7] Vol. 23: Andrade-Cetto, J,; Sanfeliu, A. Environment Learning for Indoor Mobile Robots 130 p. 2006 [3-540-32795-9] Vol. 22: Christensen, H.I. (Ed.) European Robotics Symposium 2006 209 p. 2006 [3-540-32688-X] Vol. 21: Ang Jr., H.; Khatib, O. (Eds.) Experimental Robotics IX 618 p. 2006 [3-540-28816-3] Vol. 20: Xu, Y.; Ou, Y. Control of Single Wheel Robots 188 p. 2005 [3-540-28184-3] Vol. 19: Lefebvre, T.; Bruyninckx, H.; De Sch