The linear algebra approach we’ve discussed is very well suited to MATLAB implementation. Let’s look at some toolbox functions that can simulate what cameras do. If you are using a more recent version of MVTB, ie. MVTB 4.x then please change>> cam.project(PW ‘Tcam’, transl(0.1, 0, 0)) to >> cam.project(PW ‘pose’, transl(0.1, 0, 0)).
Search Results for: camera pose
We summarise the important points from this lecture.
One very powerful trick used by humans is binocular vision. The images from each eye are quite similar, but there is a small horizontal shift, a disparity, between them and that shift is a function of the object distance.
We can describe the relationship between a 3D world point and a 2D image plane point, both expressed in homogeneous coordinates, using a linear transformation – a 3×4 matrix. Then we can extend this to account for an image plane which is a regular grid of discrete pixels.
Let’s recap the important points from the topics we have covered about homogeneous coordinates, image formation, camera modeling and planar homographies.
There is a lot of information in an image which we need to summarize somehow. An intensity histogram is one form of summary that provides useful information about how well the exposure of our camera is adjusted.
The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?
Most computers today have a built-in camera. Let’s look at how we can grab images directly from such a camera and put them in the MATLAB workspace.
When a camera moves in the world, points in the image move in a very specific way. The image plane or pixel velocity is a function of the camera‘s motion and the position of the points in the world. This is known as optical flow. Let’s explore the link between camera and image motion.
The relationship between world coordinates, image coordinates and camera spatial velocity has some interesting ramifications. Some very different camera motions cause identical motion of points in the image, and some camera motions leads to no change in the image at all in some parts of the image. Let’s explore at these phenomena and how we […]