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Questions tagged [geometry]

The tag has no usage guidance.

1
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1answer
33 views

Representation of 2D coordinate space with orientation

I wanted to know what is the mathematical representation of 2D coordinate space with orientation in the same plane. 2D coordinate space is represented as $R^{2}$, how do I include orientation in the ...
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2answers
34 views

Vısual sensor.camera lenses with a field of view of more than 180 degree

What kind of camera models can be used for lenses with a field of view of more than 180 degree ? Is ıt possible if not why? Are fisheye lenses suitable for this purpose?
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0answers
162 views

Degrees of Freedom in Affine Transformation and Homogeneous Transformation

I understand that a 2D Affine Transformation has 6 DOF and a 2D Homogeneous Transformation has 8 DOF. However, how can I identify what those independent paramters are? If we consider Euclidean ...
0
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0answers
20 views

Map camera image onto sphere

How would I determine what the red point $(\phi', \theta')$ is for a camera oriented at a known $(\phi, \theta)$ is from a given image? The point of this is to determine what $(d\phi, d\theta)$ is so ...
2
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1answer
291 views

Image coordinate to robot coordinate

I am working with a Nao robot. One if the things I want to do is the following: Take an image of geometrical objects in front of the Nao (done) Extract features from the objects in the image, such as ...
1
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0answers
53 views

Which Trajectory representation for optimization

I'm strugling on that problem for a while, so any help is welcome. I need a trajectory representation that is performant for optimization, i.e. I want something that computes quickly. The function I ...
3
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1answer
38 views

Recognizing a line from three r-theta ultrasonic distance readings?

Anyone know of sample Python code, or a tutorial, on the polar coordinate math for recognizing that three ultrasonic distance readings form a straight line? ...
2
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0answers
66 views

Consitent Scale in Monocular pose estimation

I just wanted to know if scale is conserved across multiple images, when doing a process such as monocular odometry. I know in reality the scale tends to drift over time due to accumulation of small ...
0
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1answer
825 views

6 axis robot arm with non-perpendicular axes?

Lately I've been thinking about 6 axis robots and noticed that all examples that I've seen on the internet use the same configuration of axes: Vertical axis waist (1), horizontal axis shoulder (2) ...
4
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2answers
90 views

Fence avoidance for manually controlled robot

I'm trying to find known techniques for keeping a manually controlled robot within a known polygon fence. More specifically, a pilot controls a robot by issuing desired velocity vectors, and the ...
3
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3answers
840 views

Generalized Voronoi Diagram

I need to compute the Voronoi diagram for a map with some obstacles but I can't find any pseudo-code or example in MATLAB. The "voronoi" function in MATLAB works with points, but in this case the ...
3
votes
1answer
120 views

Mobile robot algorithm implementation error

I am working in reproducing a robotics paper, first simulating it in MATLAB in order to implement it to a real robot afterwards. The robot's model is: $$\dot{x}=V(t)cos\theta $$ $$\dot{y}=V(t)sin\...
1
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0answers
41 views

How to determine the angles between a UAV and a sphere

I have an UAV modeled in three dimensions with let's say position coordinates $p_{uav} = (x_1,y_1,z_1)$ that is moving in a direction $d = (d_x,d_y,d_z)$ and a moving obstacle modeled as a sphere with ...
3
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3answers
921 views

Most accurate rotation representation for small angles

Assume that I have a rigid body for which I know that it can rotate with respect to a global reference frame (which is considered fixed and already given) for only a few degrees of angle, so I can ...
2
votes
2answers
186 views

Angle to a circle tangent line

I want to simulate the detection of a moving object by a unicycle type robot. The robot is modelled with position (x,y) and direction theta as the three states. The obstacle is represented as a circle ...
1
vote
1answer
32 views

Which geo-projection to use for odometry [closed]

I would like to make a little survey regarding the (geo)spatial projection that you use when elaborating your GPS and movement data for the spatial awareness of your robots. Moving all GPS ...
8
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1answer
92 views

6D localization with 6 lasers

I have to know where a multi-rotor is, in a rectangular room, via 6 lasers, 2 on each axis. The problem is like this: Inputs : Room : square => 10 meters by 10 meters 6 positions of the lasers : ...
0
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0answers
355 views

Phantom Omni type robot Inverse kinematics solution

Guys my robot looks like this, Thanks to @croco I came to know that it looks much similar to Phantom Omni. Since it looks similar to the phantom Omni I am trying to get the inverse kinematics ...
0
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1answer
93 views

Relative orientation of two robots

Given two robot arms with TCP (Tool Center Point) coordinates in the world frame is: $X_1 = [1, 1, 1, \pi/2, \pi/2, -\pi/2]$ and $X_2 = [2, 1, 1, 0, -\pi/2, 0]$ The base of the robots is at: $...