Let’s recap the important points from the topics we have covered in advanced image processing.
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For a camera moving through the environment we frequently wish to track particular world points from one frame to the next. We’ll do a quick introduction to the very large field of feature detection and matching using Harris corner features.
Many technologies have been developed to determine the 3D-structure of the world. RGBD sensors such as the Kinect use structured light, projecting a pattern of light onto the scene and observing how it is distorted. Time of flight sensors measure the time it takes for a pulse of light to travel from the camera to […]
We discuss the structure of a right-handed 3D coordinate frame and the spatial relationship between its axes which is encoded in the right-hand rule.
Let’s recap the important points from the topics we have covered about human depth perception, display of 3D images and estimating 3D scene structure using stereo and other types of sensors.
An image is a two dimensional projection of a three dimensional world. The big problem with this projection is that big distant objects appear the same size as small close objects. For people, and robots, it’s important to distinguish these different situations. Let’s look at how humans and robots can determine the scale of objects […]
We learn a method for succinctly describing the structure of a serial-link manipulator in terms of its Denavit-Hartenberg parameters, a widely used notation in robotics.
We learn how to describe the 3D pose of an object by a 4×4 homogeneous transformation matrix which has a special structure.
We learn how to describe the 2D pose of an object by a 3×3 homogeneous transformation matrix which has a special structure. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.
We summarise the important points from this lecture.