Using Transformation Matrices

Consider the figure above. Your goal is to find the pose of the human expressed in the

drone's coordinate frame. You know:

the pose of the stop sign with respect to the drone

the pose of the stop sign with respect to the gray car

the pose of the purple car with respect to the human

the pose of the purple car with respect to the gray car

$4\mathrm{.}1$

Sketch a system diagram. Draw arrows to mark the known transformation matrices, and

label each arrow.

Using your diagram, determine the equation for the transformation matrix $T_{dh}$