CRE CRE Sensors, Vision & Perception 2

Question 1

Camera calibration in robot vision primarily determines:

Accepted Answer

Intrinsic parameters such as focal length and lens distortion coefficients

Answer

Calibration estimates intrinsic parameters (focal length, principal point, distortion coefficients) that map pixel coordinates to accurate 3D measurements.

Question 2

Stereo vision systems estimate scene depth by:

Accepted Answer

Computing the disparity between matching points in two horizontally offset cameras

Answer

Stereo vision triangulates 3D depth from the horizontal pixel offset (disparity) of corresponding features viewed by two cameras with a known baseline.

Question 3

In robot vision, a homography matrix describes:

Accepted Answer

A projective transformation relating corresponding points on two planes

Answer

A homography is a 3×3 projective transformation that maps every point on one planar surface to its corresponding location in another camera view.

Question 4

The RANSAC algorithm is applied in computer vision to:

Accepted Answer

Robustly estimate model parameters in the presence of data outliers

Answer

RANSAC iteratively fits models to minimal random subsets of data, identifying inliers and discarding outlier measurements to find a robust solution.

Question 5

Point cloud data from 3D depth sensors is typically processed using:

Accepted Answer

The Point Cloud Library (PCL)

Answer

PCL provides specialized algorithms for filtering, segmentation, surface reconstruction, and feature extraction tailored to 3D point cloud data.

CRE - Certified Robotics Engineer Practice Test

CRE - Certified Robotics Engineer Practice Test

CRE CRE Sensors, Vision & Perception 2