Questions tagged [geometry]

The tag has no usage guidance.

7 questions with no upvoted or accepted answers
Filter by
Sorted by
Tagged with
2
votes
0answers
81 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 ...
1
vote
0answers
19 views

How to calculate twist and wrench in local and global frames

I am rather new to screw theory and also lost in robotics books' formulas. we have a simulator of a robot arm within Mujoco physics engine and I'm wondering how I can calculate wrench and twist in the ...
1
vote
0answers
78 views

How to get RPY(Roll, Pitch, Yaw) from directional cosines from a single vector?

I'm trying to find the pose of an 3D vector in terms of RPY. Let's say the two end points of the vector is P0(x0, y0, z0) and P1(x1, y1, z1). So the centered vector I get is V(Vx, Vy, Vz) = P1 - P0 = (...
1
vote
0answers
73 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 ...
1
vote
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 ...
0
votes
1answer
100 views

Do I need to use Inverse Kinematics if I have the coordinates of all joints?

So I have the positions of all the joints (x,y,z) of a robot arm. I need to calculate the angles of the joints to feed them to another similar robot arm. I cannot get the angles from the robot I need ...
0
votes
2answers
78 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?