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 […]
Search Results for: image plane motion
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.
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.
A critical part of a visual servoing system is establishing correspondence between points in the scene observed by the camera, and points in our desired image of the scene.
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 […]