Foundations of visual perception and control

Geoffrey Taylor, Lindsay Kleeman

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The purpose of this chapter is to provide a brief overview of robotic and computer vision concepts, algorithms and mathematical tools that form the basis of the framework developed in the remainder of this book. Section 2.1 lays the groundwork with a brief discussion of homogeneous vectors, transformations, and representations of rotation and velocity typically used to model robotic and computer vision systems. Section 2.2 builds on this foundation with descriptions of models for the common components of a 3D robotic vision system, namely the imaging sensor and active stereo camera head. Finally, Sections 2.3 and 2.4 paint a broad outline of issues and methods in visual perception and control as they relate to robotic manipulation. In particular, we discuss how the choice of representation in perceptual models affects the capabilities of a visual system, and provide a survey of recent work in visual servoing.

Original languageEnglish
Title of host publicationRobotic Manipulation
Subtitle of host publication3D Object Recognition, Tracking and Hand-Eye Coordination
Number of pages20
Publication statusPublished - 27 Sept 2006

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

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