Hello! Our names are Abhinav and Unnathi Peri. We are students at Westlake High School who participate on our FRC robotics team, 2687 Team Apprentice. Our goal with this project was to be able to find out where we were relative to certain patterns on the field to know our global position during the game. Hopefully through this article, we can share what we learned for others to benefit.

### What is Homography

Homography is a planar relationship that transforms points from one plane to another. It is a 3 by 3 matrix transforming 3 dimensional vectors that represent the 2D points on the plane. These vectors are called Homogeneous coordinates, and are discussed below. The illustration below represents the relationship; the 4 points correspond between the red plane and the image plane. Homography stores the position and orientation of the camera and this can be retrieved by decomposing the homography matrix.

#python #homography #computer-vision #opencv-python #localization