Essential Matrix and Fundamental Matrix from Epipolar Geometry
Epipolar geometry delivers constraints of same observation (point in the world) from 2 images with overlaps, which brings the possibility to estimate geom...
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Perspective-n-Point (PnP)
Perspective-n-Point (PnP) is used to match 2D image points to 3D points, e.g 3D points are mapped from last frame to world coordinate space. 2D points are...
Normalized Cross Corelation
Normalized Normalized Cross Corelation(NCC)
Why Introducing Probabilities In Robotics
Uncertainty happens during observation in the real world. Robotics observe the world using sensors, and the uncertainty of sensors is modelled by probabil...