Search Results for: camera velocity

By inverting the Jacobian matrix we can find the joint velocities required to achieve a particular end-effector velocity, so long as the Jacobian is not singular.

Let’s look at how light rays reflected from an object can form an image. We use the simple geometry of a pinhole camera to describe how points in a three-dimensional scene are projected on to a two-dimensional image plane.

We can describe the relationship between a 3D world point and a 2D image plane point, both expressed in homogeneous coordinates, using a linear transformation – a 3×4 matrix. Then we can extend this to account for an image plane which is a regular grid of discrete pixels.

We introduce the relationship between the velocity of the robot’s joints and the velocity of the end-effector in 3D space.

As we did for the simple planar robots we can invert the Jacobian and perform resolved-rate motion control.

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.

Many technologies have been developed to determine the 3D-structure of the world. RGBD sensors such as the Kinect use structured light, projecting a pattern of light onto the scene and observing how it is distorted. Time of flight sensors measure the time it takes for a pulse of light to travel from the camera to […]

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 from the topics we have covered about homogeneous coordinates, image formation, camera modeling and planar homographies.

A color camera has many similarities to the human eye. Instead of three types of cone cells a uniform silicon sensor uses a pattern of three color filters known as a Bayer filter.