Search Results for: thin lens model

The pinhole camera simplifies the geometry but in practice it results in very dark images. Cameras, as well as our eyes, use a lens to form a brighter image but there are consequences.

Let’s look at numerical approaches to inverse kinematics for a couple of different robots and learn some of the important considerations. For RTB10.x please note that the mask value must be explicitly preceded by the ‘mask’ keyword. For example: >> q = p2.ikine(T, [-1 -1], ‘mask’, [1 1 0 0 0 0])

For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.

The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?

We can model a DC motor as a resistor and a voltage source, and then understand the implications of controlling either the voltage or current supplied to the motor. We also learn about common methods for motor control such as the H-bridge driver and pulse width modulation.

We will use Simulink to create a dynamic model of a single robot joint and simulate its operation.

In order to determine the size and distance of objects in the scene our brain uses a number of highly evolved tricks. Let’s look at some of these.

Let’s recap the important points from the topics we have covered about image formation and perspective projection.

The human eye is quite amazing, let’s look at its various components including the light sensitive rod and cone cells.

Let’s look at some recent research results that vividly show how information from many 2D images taken from many different locations can be combined to form a detailed 3D model of the world.