Let’s do a quick recap of where humanity is with respect to machine intelligence, and how our concept of intelligence has changed over time.
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Humans have long been fascinated with seeing images and movies in ‘3D’. Let’s look at how human stereo vision works and some of the technologies used to present images to our eyes in ‘3D’.
We repeat the process of the last section but this time consider it as an algebraic problem.
Robots today are ubiquitous in manufacturing but they can do much, much more.
Let’s recap the important points from the topics we have covered about human depth perception, display of 3D images and estimating 3D scene structure using stereo and other types of sensors.
How is an image formed? The real world has three dimensions but an image has only two. We can use linear algebra and homogeneous coordinates to understand what’s going on. This more general approach allows us to model the positions of pixels in the sensor array and to derive relationships between points on the image […]
Light field cameras are now commercially available and capture much more information about the rays of light reflected from the scene. This enables us to perform functions like changing the focus of an image after it has been captured.
A problem arises when using three-angle sequences and particular values of the middle angle leads to a condition called a singularity. This mathematical phenomena is related to a problem that occurs in the physical world with mechanical gimbal systems. Note that in Robotics, Vision & Control (second edition) and RTB10.x the default definition of roll-pitch-yaw […]
We learn how to describe the 2D pose of an object by a 3×3 homogeneous transformation matrix which has a special structure. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.
We will introduce resolved-rate motion control which is a classical Jacobian-based scheme for moving the end-effector at a specified velocity without having to compute inverse kinematics.