#### Scale Invariant Corner Features (SIFT)

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When matching points between scenes with large different viewpoints we need to account for varying image size and rotation. SIFT features are a powerful way to achieve this.

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When matching points between scenes with large different viewpoints we need to account for varying image size and rotation. SIFT features are a powerful way to achieve this.

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We introduce the relationship between the velocity of the robot’s joints and the velocity of the end-effector in 3D space.

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A characteristic of inverse kinematics is that there is often more than one solution, that is, more than one set of joint angles gives exactly the same end-effector pose.

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Diadic operations involve two images of the same size and result in another image. For example adding, subtracting or masking images. As a realistic application we look at green screening to superimpose an object into an arbitrary image.

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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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The linear algebra approach we’ve discussed is very well suited to MATLAB implementation. Let’s look at some toolbox functions that can simulate what cameras do. If you are using a more recent version of MVTB, ie. MVTB 4.x then please change>> cam.project(PW ‘Tcam’, transl(0.1, 0, 0)) to >> cam.project(PW ‘pose’, transl(0.1, 0, 0)).

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Now we introduce a variant of the Jacobian matrix that can relate our angular velocity vector back to our rates of change of the roll, pitch and yaw angles.

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The relationship between world coordinates, image coordinates and camera spatial velocity has some interesting ramifications. Some very different camera motions cause identical motion of points in the image, and some camera motions leads to no change in the image at all in some parts of the image. Let’s explore at these phenomena and how we […]

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We will learn about the relationship, in 3D, between the velocity of the joints and the velocity of the end-effector — the velocity kinematics. This relationship is described by a Jacobian matrix which also provides information about how easily the end-effector can move in different Cartesian directions. To do this in 3D we need to […]

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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.