Submitted version of the thesis - Airlab, the Artificial Intelligence ...
Submitted version of the thesis - Airlab, the Artificial Intelligence ...
Submitted version of the thesis - Airlab, the Artificial Intelligence ...
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5.1. Camera Calibration 55<br />
Figure 5.3: Camera robot world space<br />
into <strong>the</strong> direction vector, and its normalized vector −−−→<br />
d c norm in order to find<br />
<strong>the</strong> direction from camera plane to <strong>the</strong> ball.<br />
−−−→<br />
d c ball = K -1 ∗<br />
−−−→<br />
d c norm =<br />
⎡ ⎤<br />
u<br />
⎢ ⎥<br />
⎣v⎦<br />
1<br />
−−−→<br />
d c ball<br />
| −−−→<br />
d c ball|<br />
From <strong>the</strong> direction −−−→<br />
d c norm and <strong>the</strong> line lnew, <strong>the</strong> point P c ball that is 3D<br />
homogeneous coordinates <strong>of</strong> <strong>the</strong> points with respect to camera.<br />
�<br />
lnew ∗ −−−→<br />
�<br />
P c ball =<br />
d c norm<br />
1