- append 1 at end of every vector - allows us to rotate, scale, skew, and translate
- rightmost column of the matrix is a vector that is added
- usually has a bottom row of 0,0,1, making the result have 1 at the bottom
- usually has a bottom row of 0,0,1, making the result have 1 at the bottom
- doesn’t matter how far it’s scaled for Computer Vision
- Linear Algebra