Search Results for: line polar form

Many scenes, particularly of man-made environments, have very dominant lines due to the edges of objects. The Hough transform is a common technique for finding dominant lines, and we ill examine how it works and apply it to a real image.

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

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.

Let’s recap the important points from the topics we have covered in advanced image processing.

We introduce serial-link robot manipulators, the sort of robot arms you might have seen working in factories doing tasks like welding, spray painting or material transfer. We will learn how we can compute the pose of the robot’s end-effector given knowledge of the robot’s joint angles and the dimensions of its links.

Since an image in MATLAB is just a matrix of numbers, we could write code to fill in the elements of the matrix. Let’s look at some simple examples such as squares, circles and lines and more complex images formed by pasting these shapes together.

We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.

We will introduce resolved-rate motion control which is a classical Jacobian-based scheme for moving the end-effector at a specified velocity without having to compute inverse kinematics.

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.

For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.