Math & Kinematics
Projective Transformation
A projective transformation, or homography, is the most general invertible linear map on homogeneous coordinates, representable in the plane as a 3x3 matrix with eight degrees of freedom that preserves straight lines but not parallelism or ratios. Perspective imaging is projective, and homographies exactly relate two views of a planar scene or two views from a purely rotating camera.
Why it matters for physical AI
Homographies underpin practical robot vision: fiducial marker pose estimation, ground-plane mapping for mobile robots, image rectification, and planar visual servoing all reduce to estimating and applying projective transforms.
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Put these concepts to work on real hardware
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