Mobile Robotics

Assignment 1 -

1. Converting RGBD image into Point Cloud.
2. Rotations, Euler angles and Gimbal Lock

Assignment 2 -

1. Point Cloud Registration
2. Occupancy Grid Construction

Assignment 3 -

1. Iteractive Closest Point

2. Non-linear least squares optimization

Assignment 4 -

1. Camera Calibration - Direct Linear Transform(DLT), Zhang's Method
2. Epipolar Lines

Project

Project 1 - Pose Graph Optimization

1. Pose Graph Optimization for 2D SLAM

2. Optimizing intel and sphere datasets using G2O

Project 2 -

1. Stereo dense reconstruction

2. Motion estimation using iterative PnP