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 […]
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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.
An alternative for smooth motion between poses is Cartesian interpolated motion which leads to straight line motion in 3D space.
An important problem in robotic vision is moving a camera so that the view it sees matches the view we want it to have. To achieve this we exploit knowledge about how an image changes as a camera moves. Then we invert that and compute how the camera should move so the image changes in […]
To move a robot smoothly from one pose to another we need smooth and coordinated motion of all the joints. The simplest approach is called joint interpolated motion but it has some limitations.
Let’s recap the important points from the topics we have covered in our discussion of optical flow and visual servoing.
A body moving in 3D space has a translational velocity and a rotational velocity. The combination is called spatial velocity and is described by a 6-element vector.