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In mathematics and its applications, the signed distance function or signed distance field (SDF) is the orthogonal distance of a given point x to the boundary of a set Ω in a metric space (such as the surface of a geometric shape), with the sign determined by whether or not x is in the interior of Ω.
In robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. [ 1 ] [ 2 ] The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation .
A configuration describes the pose of the robot, and the configuration space C is the set of all possible configurations. For example: If the robot is a single point (zero-sized) translating in a 2-dimensional plane (the workspace), C is a plane, and a configuration can be represented using two parameters (x, y).
A distance transform, also known as distance map or distance field, is a derived representation of a digital image.The choice of the term depends on the point of view on the object in question: whether the initial image is transformed into another representation, or it is simply endowed with an additional map or field.
Kinematics is often described as applied geometry, where the movement of a mechanical system is described using the rigid transformations of Euclidean geometry. The coordinates of points in a plane are two-dimensional vectors in R 2 (two dimensional space). Rigid transformations are those that preserve the distance between any two
Features are detected in the first frame, and then matched in the second frame. This information is then used to make the optical flow field for the detected features in those two images. The optical flow field illustrates how features diverge from a single point, the focus of expansion. The focus of expansion can be detected from the optical ...
Another approach is to register a 3D CAD model over the photograph of a known object by optimizing a suitable distance measure with respect to the pose parameters. [ 4 ] [ 5 ] The distance measure is computed between the object in the photograph and the 3D CAD model projection at a given pose.
In the simplest case, shown in the first picture, we are given a finite set of points {, …} in the Euclidean plane.In this case each site is one of these given points, and its corresponding Voronoi cell consists of every point in the Euclidean plane for which is the nearest site: the distance to is less than or equal to the minimum distance to any other site .