#### Position and pose in 2D

lesson

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.

lesson

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.

lesson

We revisit the fundamentals of 3D geometry that you would have learned at school: coordinate frames, points and vectors.

lesson

We introduce the idea of attaching a coordinate frame to an object. We can describe points on the object by constant vectors with respect to the object’s coordinate frame, and then relate those to the points described with respect to a world coordinate frame. We introduce a simple algebraic notation to describe this.

lesson

For a binary image that contains multiple blobs we must first transform it using connectivity analysis or region labeling. Then we can describe each of the blobs in the scene we first need to transform the image using connectivity analysis. Each of the blobs can then be described in terms of its area, centroid position, […]

lesson

It is common to think about an assembly task being specified in terms of coordinates in the 3D world. An alternative approach is to consider the task in terms of the relative position of objects in one or more views of the task — visual servoing.

lesson

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.

lesson

A robot joint controller is a type of feedback control system which is an old and well understood technique. We will learn how to assemble the various mechatronic components such as motors, gearboxes, sensors, electronics and embedded computing in a feedback configuration to implement a robot joint controller.

lesson

The orientation of a body in 3D can also be described by two vectors, often called the approach and orientation vectors.

lesson

We learn how to describe the position and orientation of objects in the 3-dimensional space that we live in. This builds on our understanding of describing position and orientation in two dimensions.

lesson

We learn how to describe the position and orientation of objects on a 2-dimensional plane. We introduce the notion of reference frames as a basis for describing the position of objects in two dimensions.