Lecture 05:camera basics

Katie DC

Sept. 10, 2019

Admin

• HW3 is live as of Monday

• Quiz1 is next week – make sure you schedule time at the CBTF

• Policy Updates

• Participation:• “Shout out form” will be posted on Piazza and website

• Optional self-assessment due mid- and end of semester

• Quiz retakes will be at the CBTF ~a week later

Who is this human?

Motivating Example: Block Picking

1. Detect specified block

2. Convert point in image to world coordinates

3. Robot end effector goes to point

4. Picks up block

5. Moves and replaces block in new position

Camera modelsPhoto credit: fdxlabs

Camera Point to World Point

Perspective Phenomenon

Parallel Lines Converge

Perspective Projection

Perspective Matrix Equation

World to Camera Transformation

Finite Projective Camera