Spring 2011 Computer Vision Notes

Single Camera Studies

HP3 robot translating or rotating a checkerboard target

A camera mounted on tripod was used to capture images of a fixed checkboard target from different positions.
The camera was translated and rotated (yaw) as if it were mounted on a mobile robot.

Hall4 Studies

Download hall4.zip

hallway1.m
hallway2.m
hallway3.m
hallway4.m
hallway5.m
- back_projection.m
- draw5.m
- rotation_matrix.m
- fval2.m (based on vanishing points)
- fval3.m (based on back-propagated points)
test1.m
- fval4.m
hallway6.m

Panorama

photos.m Use TFORM to overlay two images.

Video Acquistion

download vid.zip

vid1.m USB camera example
vid2.m object size vs. distance from camera
vid3.m reading .avi video capture file
pat1.m edge location
video preview video preview and custom callback routines

Download: seqs.zip

vid4.m captures sequences of snapshots at equally spaced times, with a audible beep before each snapshot.
vid4a.m reviews the sequences. Those presented here (taken 26 Jan 2011) show image translation (different magnitudes), image rotation (axis toward camera), and image rotation with the axis vertical.