Problem 3: A coordinate frame, {B}, is located at the base of a robot manipulator. ŻB points upward. Three cameras are used to view the manipulator. Coordinate frames {C}, {D}, and (E} describe the camera positions and orientations. The origin of (C} is on the Xg - 2g plane. The cameras are mounted on tripods 1.5 units tall placed at the vertices of an equilateral triangle having {B} at the incenter. The robot frame is on the focal axis of each camera (the camera's 2- axis), and the Euclidean distance from (B) to any camera is 5 units, thus "PBORG = "PBORG = "PBORG = [0 0 5]" Compute the camera transformation matrices: T, T, and T.

Problem 3: A coordinate frame, {B}, is located at the base of a robot manipulator. ŻB points upward. Three cameras are used to view the manipulator. Coordinate frames {C}, {D}, and (E} describe the camera positions and orientations. The origin of (C} is on the Xg - 2g plane. The cameras are mounted on tripods 1.5 units tall placed at the vertices of an equilateral triangle having {B} at the incenter. The robot frame is on the focal axis of each camera (the camera's 2- axis), and the Euclidean distance from (B) to any camera is 5 units, thus "PBORG = "PBORG = "PBORG = [0 0 5]" Compute the camera transformation matrices: T, T, and T.

Database System Concepts

7th Edition

ISBN:9780078022159

Author:Abraham Silberschatz Professor, Henry F. Korth, S. Sudarshan

Publisher:Abraham Silberschatz Professor, Henry F. Korth, S. Sudarshan

Chapter1: Introduction

Section: Chapter Questions

Problem 1PE

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