Perception
Homography
A homography is a 3x3 projective transformation relating pixel coordinates of a plane viewed from two camera poses, or of any scene viewed by a purely rotating camera. It can be estimated from four or more point correspondences, typically with RANSAC for robustness, and underlies image stitching, planar visual servoing, and ground-plane mapping in mobile robotics.
Why it matters for physical AI
Many workspaces are dominated by planes, tabletops, floors, walls, so homography-based alignment offers a cheap, robust geometric prior for visual servoing and camera-to-workspace registration without full 3D reconstruction.
Build physical AI
Put these concepts to work on real hardware
Axol is a dual-arm robot built for physical AI — teleoperate it, collect demonstrations, and deploy learned policies out of the box.