We previously learnt how to derive a Jacobian which relates the velocity of a point, defined relative to one coordinate frame, to the velocity relative to a different coordinate frame. Now we extend that to the 3D case.
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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.
For an image stored as a variable in the MATLAB workspace let’s look at how we access the values of individual pixels in an image using their row and column coordinates. Using the MATLAB colon operator we can extract an intensity profile, extract a submatrix which is a region of the image, flip the image […]
Once a digital image exists as a matrix in the MATLAB workspace we can manipulate it to extract information that a robot could use. We will discuss some fundamental algorithms that operate on single images.
We summarise the important points from this lecture.