#### Position and pose in 2D

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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.

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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.

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

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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.

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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, […]

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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.

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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.

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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.

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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.

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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.

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Let’s recap the important points from the topics we have covered in our discussion of optical flow and visual servoing.