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174 INTELLIGENT COMMUNICATION SYSTEMS
FIGURE 12.19 Measurement by ranger finder.
FIGURE 12.20 Object recognition from a 2D image.
12.4.6 Object Recognition
12.4.6.1 Object Recognition from a Two-Dimensional Image
By rotating an object by an angle a, the position x' of P along the x axis is x f =
x cos a + z sin a. Similarly, by rotating an object by an angle P, the position
x" of P along the jc axis is x" - x cos P + z sin p (see Figure 12.20). Combining
the two equations, we get, x" = ax + bx' (50) where a = [sin (a - P)]/sin a and b -
sin P/sin a.
