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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Representing Position and Orientation
verfasst von : Peter Corke
Erschienen in: Robotics, Vision and Control
Verlag: Springer Berlin Heidelberg
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A fundamental requirement in robotics and computer vision is to represent the position and orientation of objects in an environment. Such objects include robots, cameras, workpieces, obstacles and paths.
A point in space is a familiar concept from mathematics and can be described by a coordinate vector, also known as a bound vector, as shown in Fig. 2.1a. The vector represents the displacement of the point with respect to some reference coordinate frame. A coordinate frame, or Cartesian coordinate system, is a set of orthogonal axes which intersect at a point known as the origin.