Consider the following statements regarding homogenous coordinate transformation matrix:

1. A homogenous transformation matrix can be considered to consist of four sub-matrices.

2. The upper left 3 × 3 sub-matrix represents the position vector.

3. The upper right 3 × 1 sub-matrix represents the rotation matrix.

4. The lower left 1 × 3 sub-matrix represents perspective transformation.

Which of the above statements are correct? 

Concept:

• A homogenous transformation matrix can be considered to consist of four sub-matrices.
• The lower left 1 × 3 sub-matrix represents perspective transformation.

The homogeneous transform matrix or Homogeneous Transform (HTM)

• This is generalized homogeneous transform matrix has about 4 sub-matrices.
• Perspective transformation matrix is useful in the vision system and is set to zero vector wherever no perspective view is involved.