Multi-view Geometry Based Visual Perception and Control of Robotic Systems

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.

Jian Chen received B.E. and M.E. degrees from Zhejiang University, Hangzhou, China, in 1998 and 2001, respectively, and the Ph.D. degree in electrical engineering from Clemson University, Clemson, SC, USA, in 2005. He was a Research Fellow with the University of Michigan, Ann Arbor, MI, USA, from 2006 to 2008, where he was involved in fuel cell modeling and control. He joined IdaTech LLC, Bend, OR, USA, in 2008, where he was involved in fuel cell back power systems, and Proterra Inc., Greenville, SC, USA, in 2012, where he was involved in the National Fuel Cell Bus Program. In 2013, he joined the Department of Control Science and Engineering, Zhejiang University, where he is currently a Professor with the College of Control Science and Engineering. He has been supported by the Chinese Recruitment Program of Global Youth Experts since 2013, and the Key Program of National Natural Science Foundation of China on Modeling and Control of Fuel Cell vehicles since 2015. His research interests include visual servo techniques, modeling and control of fuel cell vehicles, and nonlinear control.