This book describes visual perception and control methods for
robotic systems that need to interact with the environment.
Multiple view geometry is utilized to extract low-dimensional
geometric information from abundant and high-dimensional image
information, making it convenient to develop general solutions for
robot perception and control tasks. In this book, multiple view
geometry is used for geometric modeling and scaled pose estimation.
Then Lyapunov methods are applied to design stabilizing control
laws in the presence of model uncertainties and multiple
constraints.
General
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