Let’s look at how light rays reflected from an object can form an image. We use the simple geometry of a pinhole camera to describe how points in a three-dimensional scene are projected on to a two-dimensional image plane.
Search Results for: similar triangles
Imagine trying to find a face in a crowd. If we know what the face looks like we could search for it at every possible location — this is the essence of template matching. To make it work we need to describe how similar each area we are checking is to the reference face image […]
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.
The pinhole or lensed camera is very similar to our eye, but there are lots of other ways to build a camera.
When we look at an image we discern objects, and these tend to be groups of similar pixels surrounded by a distinctive edge. We look at intensity profiles in images and use spatial operators with kernels such as the Sobel kernel to find the intensity gradients in an image, and from these find edges in […]
Spatial operators are closely related to concepts from signal processing called correlation and convolution. They are similar but different and we discuss the important properties of convolution for Gaussian kernels.
The end-effector is not able to move equally fast in all directions, and that in fact depends on the pose of the robot. We will introduce the velocity ellipse to illustrate this.
We consider the simplest possible robot, which has one rotary joint and an arm.
We will learn the essentials of inertial navigation, about sensors such as accelerometers, gyroscopes and magnetometers and how we can use the information they provide to estimate our motion and orientation in 3D space.
The orientation of a body in 3D can also be described by a unit-Quaternion, an unusual but very useful mathematical object. In the MATLAB example starting at 3:48 I use the Quaternion class. For Toolbox version 10 (2017) please use UnitQuaternion instead.