Features for Visual Servoing
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Visual servoing is concerned with the motion of points in the world. How can we reliably detect such points using computer vision techniques.
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Visual servoing is concerned with the motion of points in the world. How can we reliably detect such points using computer vision techniques.
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We use MATLAB and some Toolbox functions to compute an homography and also apply it.
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When it comes to describing a blob we can do more than just area, centroid position and bounding box. By looking at second order moments we can compute an ellipse that has the same moments of inertia as the blob, and we can use its aspect ratio and orientation to describe the shape and orientation […]
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We introduce spatial operators by a simple example of taking the average value of all pixels in a box surrounding each input pixel. The result is a blurring or smoothing of the input image.
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A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.
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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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The image Jacobian depends not only on the image plane coordinates but also the distance from the camera to the points of interest. If this distance is not known, what can we do? Let’s look at how we can determine this distance, and how the optical flow equation can be rearranged to convert from observed […]
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A critical part of a visual servoing system is establishing correspondence between points in the scene observed by the camera, and points in our desired image of the scene.
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The relationship between world coordinates, image coordinates and camera spatial velocity is elegantly summed up by a single matrix equation that involves what we call the image Jacobian.
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Building a highly accurate robot is not trivial yet we can perform fine positioning tasks like threading a needle using hand-eye coordination. For a robot we call this visual servoing.