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.
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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.
Let’s recap the important points from the topics we have covered about image formation and perspective projection.
The pinhole camera simplifies the geometry but in practice it results in very dark images. Cameras, as well as our eyes, use a lens to form a brighter image but there are consequences.
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.
We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.
We start by looking at a number of different types of robot arm with particular focus on serial-link robot manipulators.
A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.