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For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.

We summarise the important points from this lecture.

Time varying coordinate frames are required to describe how the end-effector of a robot should move to grab an object, or to describe objects that are moving in the world. We make an important distinction between a path and a trajectory.

Humans have long been fascinated with seeing images and movies in ‘3D’. Let’s look at how human stereo vision works and some of the technologies used to present images to our eyes in ‘3D’.

For a camera moving through the environment we frequently wish to track particular world points from one frame to the next. We’ll do a quick introduction to the very large field of feature detection and matching using Harris corner features.

Let’s recap the important points about spatial operators. Linear operators can be used to smooth images and determine gradients. Template matching can be used to find a face in a crowd. Non-linear operators such as rank filters can be used for noise removal, and mathematical morphology treats shapes according to their compatibility with a structuring […]

So far we have taken a linear combination of pixels in the box around the input pixel, but non-linear operations like sorting and ranking the pixel values also prove to be very useful. We look at the median filter which is much better at removing salt and pepper noise from image than simple smoothing.

Digital images are everywhere: in your phone, on your hard drive, on the internet. We can access still pictures, movies and streams from live cameras all around the world. Let’s talk about digital images and how we can get them into the MATLAB environment where we can work on them.

We use MATLAB and some Toolbox functions to create a robot controller that moves a camera so the image matches what we want it to look like. We call this an image-based visual servoing system.

We like robots but there’s also an element of fear, perhaps stoked by all those books and movies about our new robot overlords. I’m going to speculate a little about where the fear comes from.