Many technologies have been developed to determine the 3D-structure of the world. RGBD sensors such as the Kinect use structured light, projecting a pattern of light onto the scene and observing how it is distorted. Time of flight sensors measure the time it takes for a pulse of light to travel from the camera to […]
Search Results for: phase shift
One very powerful trick used by humans is binocular vision. The images from each eye are quite similar, but there is a small horizontal shift, a disparity, between them and that shift is a function of the object distance.
Time varying coordinate frames are required to describe how the end-effector of a robot should move to grab an object, or to describe objects that are moving in the world. We make an important distinction between a path and a trajectory.
We learn how to describe the orientation of an object by a 3×3 rotation matrix which has some special properties.
A more efficient trajectory has a trapezoidal velocity profile.
A problem arises when using three-angle sequences and particular values of the middle angle leads to a condition called a singularity. This mathematical phenomena is related to a problem that occurs in the physical world with mechanical gimbal systems. Note that in Robotics, Vision & Control (second edition) and RTB10.x the default definition of roll-pitch-yaw […]