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 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.
We combine what we’ve learnt about smoothly varying position and orientation to create smoothly varying pose, often called Cartesian interpolation.
We consider multiple objects each with their own 3D 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 previous 2D algebraic notation to 3D and look again at pose graphs.
The pose of an object can be considered in two parts, the position of the object and the orientation of the object.
To fully describe an object on the plane we need to not only describe its position, but also which direction it is pointing. This combination is referred to as pose.
We summarise the important points from this lecture.
We recap the important points from this lecture.
We introduce the relationship between the velocity of the robot’s joints and the velocity of the end-effector in 3D space.
The linear algebra approach we’ve discussed is very well suited to MATLAB implementation. Let’s look at some toolbox functions that can simulate what cameras do. If you are using a more recent version of MVTB, ie. MVTB 4.x then please change>> cam.project(PW ‘Tcam’, transl(0.1, 0, 0)) to >> cam.project(PW ‘pose’, transl(0.1, 0, 0)).