#### Describing rotation and translation in 2D

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We learn how to describe the 2D pose of an object by a 3×3 homogeneous transformation matrix which has a special structure.

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We learn how to describe the 2D pose of an object by a 3×3 homogeneous transformation matrix which has a special structure.

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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.

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A problem arises when using three-angle sequences and particular values of the middle angle leads to a condition called a singularity. This mathematical phenomena is related to a problem that occurs in the physical world with mechanical gimbal systems. Note that in Robotics, Vision & Control (second edition) and RTB10.x the default definition of roll-pitch-yaw […]

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We use MATLAB and some Toolbox functions to find corresponding points between two images using SURF features.

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We use MATLAB and some Toolbox functions to find tomatoes on a bush. We convert the color image to chromaticity coordinates, select the pixels that belong to the tomatoes and the perform blob analysis to find the location of the tomatoes.

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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.

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Let’s recall the key techniques we’ve covered including monadic and dyadic image processing operations and efficient ways to write these in MATLAB using vectorization.

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Imagine a scene with bright objects against a dark background. Thresholding is a very common monadic operation which transforms the image into one where the pixels have two possible values: true or false which correspond to foreground or background. It can be performed with a single vectorized MATLAB operation.

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Let’s recap some of the most important topics we’ve covered about treating an image as a matrix within MATLAB which we can display or index into.

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Since an image in MATLAB is just a matrix of numbers, we could write code to fill in the elements of the matrix. Let’s look at some simple examples such as squares, circles and lines and more complex images formed by pasting these shapes together.