Information Technology Reference
In-Depth Information
(a)
5 10 5
0
5
10
15
(b)
(c)
Fig. 2.2
Demonstration of the equivalence of the kernel-projected value whether moving the
camera or moving the kernel: (a) a static kernel and the signal at the goal; (b) a static kernel
and a shifted signal; and (c) a shifted kernel and the signal at the goal
V
=(ξ
−
ξ
0
)
T
P
˙
ξ
ξ
−
ξ
0
)
T
P
∂ξ
∂
=(
x
x
⎡
⎣
⎤
⎦
(2.6)
∂
K
(
w
+
x
(
t
))
∂
ξ
−
ξ
0
)
T
P
=(
I
0
(
w
,
0
)
d
w
u
.
x
I
Jacobian
J
After reversing the change of coordinates, (2.6) can be written as
ξ
−
ξ
0
)
T
P
0
)
d
w
u
∂
K
(
w
)
∂
V
=(
I
0
(
w
−
x
(
t
)
,
x
I
x
(
t
))
d
w
u
ξ
−
ξ
0
)
T
P
(2.7)
∂
K
(
w
)
∂
=(
I
(
w
,
.
x
I
Search WWH ::
Custom Search