Summary of Image Geometry
lesson
Let’s recap the important points from the topics we have covered about homogeneous coordinates, image formation, camera modeling and planar homographies.
lesson
Let’s recap the important points from the topics we have covered about homogeneous coordinates, image formation, camera modeling and planar homographies.
lesson
We introduce the idea of attaching a coordinate frame to an object. We can describe points on the object by constant vectors with respect to the object’s coordinate frame, and then relate those to the points described with respect to a world coordinate frame. We introduce a simple algebraic notation to describe this. Try your […]
lesson
We introduce serial-link robot manipulators, the sort of robot arms you might have seen working in factories doing tasks like welding, spray painting or material transfer. We will learn how we can compute the pose of the robot’s end-effector given knowledge of the robot’s joint angles and the dimensions of its links.
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We summarise the important points from this lecture.
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We can derive a linear relationship between the coordinates of points on an arbitrary plane in the scene and the coordinate of that point in the image. This is the planar homography and it has a number of everyday uses which might surprise you.
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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.
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We will learn about inverse kinematics, that is, how to compute the robot’s joint angles given the desired pose of their end-effector and knowledge about the dimensions of its links. We will also learn about how to generate paths that lead to smooth coordinated motion of the end-effector.
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We learn how to describe the orientation of an object by a 2×2 rotation matrix which has some special properties. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.
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For a redundant robot the inverse kinematics can be easily solved using a numerical approach.
lesson
We recap the important points from this masterclass.