Incandescent light sources emit a lot of infrared radiation which we cannot see but can sense as heat. Non-incandescent sources such as fluorescent lights, cathode ray tubes and LEDs have quite different spectrums. When light travels through an absorbing medium, such as the atmosphere or water, different wavelengths are absorbed differently and this alters its […]
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The light we see is a mixture of different wavelengths in the visible region of the electromagnetic spectrum. The most common source of light is incandescence from a very hot body such as our sun or the filament of an old-fashioned light bulb. The spectrum, the amount of energy as a function wavelength, follows Planck’s […]
Let’s recap the important points from the topics we have covered about light, wavelength, spectrums, light sources, reflection, reflectance functions, cone cells, tristimulus and chromaticity space.
Most objects reflect the light that falls on them and there are two aspects to this reflection. The first is geometric and concerned with the directions of the light rays: it can be specular reflection from a mirror like surface, or scattered Lambertian reflection from a matte surface. The second is the reflectance function which […]
Humans are trichromats which means that our eyes have three types of cone cells which are sensitive to different parts of the spectrum: red, green and blue light. They perform a non-unique mapping from an arbitrary spectrum of light into three signals which are known as a tristimulus which we perceive as a particular color. […]
We use MATLAB and some Toolbox functions to model the spectrum of a realistic light source, its modification after reflection from a colored object and the response of the cone cells to form a tristimulus response.
We will introduce resolved-rate motion control which is a classical Jacobian-based scheme for moving the end-effector at a specified velocity without having to compute inverse kinematics.