3. Consider the following diagram OFF {0} world Fixed camera (F) FEB CEB REC {R} Robot OER Figure 2: Multiple 2D frames Object {B} (C) Robot fixed camera where the following poses are known Pose from world (O) to fixed camera (F)-C-(5,3, /4) Pose from fixed camera (F) to object (B)-"C-(1.-5./2) Pose from robot {R} to robot camera (C)- "Ce-(0.1,0.2,0) Pose from camera on robot (C) to the object (B)-C-(-2,5, #/6) (a) Compute the homogeneous transformation matrices: "Tr, T. "Te (b) Compute Cu (e) Compute C (d) Compute the pose of robot with respect to world C (e) Compute "C