#### Vision-based Robot Control

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Building a highly accurate robot is not trivial yet we can perform fine positioning tasks like threading a needle using hand-eye coordination. For a robot we call this visual servoing.

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Building a highly accurate robot is not trivial yet we can perform fine positioning tasks like threading a needle using hand-eye coordination. For a robot we call this visual servoing.

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We discuss the structure of a right-handed 3D coordinate frame and the spatial relationship between its axes which is encoded in the right-hand rule.

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We learn how to describe the orientation of an object by a 2×2 rotation matrix which has some special properties. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.

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We extend the idea of relative pose, introduced in the last lecture, to 3D. We learn another right-hand rule that indicates the direction of rotation about an axis, and we see how we can attach 3D coordinate frames to objects to determine their pose in 3D space.

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We introduce the idea of attaching a coordinate frame to an object. We can describe points on the object by constant vectors with respect to the object’s coordinate frame, and then relate those to the points described with respect to a world coordinate frame. We introduce a simple algebraic notation to describe this. Try your […]

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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.

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We consider multiple objects each with its own coordinate frame. Now we can describe the relationships between the frames and find a vector describing a point with respect to any of these frames. We extend our algebraic notation to ease the manipulation of relative poses. Try your hand at some online MATLAB problems. You’ll need […]

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The pinhole or lensed camera is very similar to our eye, but there are lots of other ways to build a camera.

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Let’s recap the important points from the topics we have covered about light, wavelength, spectrums, light sources, reflection, reflectance functions, cone cells, tristimulus and chromaticity space.

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The pose of an object can be considered in two parts, the position of the object and the orientation of the object. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.