#### Visual perspective

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We live in a three-dimensional world but it’s taken humans a long time to learn how to realistically depict the illusion of depth on a flat surface.

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We live in a three-dimensional world but it’s taken humans a long time to learn how to realistically depict the illusion of depth on a flat surface.

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In order to determine the size and distance of objects in the scene our brain uses a number of highly evolved tricks. Let’s look at some of these.

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Let’s recap the important points from the topics we have covered about image formation and perspective projection.

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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.

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Let’s recap the important points from the topics we have covered in our discussion of optical flow and visual servoing.

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The image Jacobian depends not only on the image plane coordinates but also the distance from the camera to the points of interest. If this distance is not known, what can we do? Let’s look at how we can determine this distance, and how the optical flow equation can be rearranged to convert from observed […]

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The relationship between world coordinates, image coordinates and camera spatial velocity is elegantly summed up by a single matrix equation that involves what we call the image Jacobian.

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We recap the basics of perspective projection.

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An image is a two dimensional projection of a three dimensional world. The big problem with this projection is that big distant objects appear the same size as small close objects. For people, and robots, it’s important to distinguish these different situations. Let’s look at how humans and robots can determine the scale of objects […]

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We use MATLAB and some Toolbox functions to create a robot controller that moves a camera so the image matches what we want it to look like. We call this an image-based visual servoing system.