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 summarise the important points from this lecture.
We live in a three-dimensional world but it’s taken humans a long time to learn how to realistically depict the illusion of depth on a flat surface.
In order to determine the size and distance of objects in the scene our brain uses a number of highly evolved tricks. Let’s look at some of these.
Let’s recap the important points from the topics we have covered about human depth perception, display of 3D images and estimating 3D scene structure using stereo and other types of sensors.
The human eye is quite amazing, let’s look at its various components including the light sensitive rod and cone cells.
We learn how to describe the 2D pose of an object by a 3×3 homogeneous transformation matrix which has a special structure. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.
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 […]
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.