/Robotic-Vision

A collection of assignments and projects done as part of the Mobile Robotics course at IIIT-H during Monsoon 2020. Detailed description of the project/code is present in the jupyter notebooks.

Primary LanguageJupyter Notebook

All assignments done as part of Mobile Robotics (Monsoon-2020)

  1. Assignment 1-
  • Point Cloud Generation
  • Affine Transformations
  1. Assignment 2-
  • Point cloud registration using global transformations
  • Occupancy grid construction
  1. Assignment 3-
  • ICP (Iterative close point algorithm)
  • Non-linear least squares using
    • Gradient Descent
    • Gauss Newton
    • Levenberg-Marquardt
  1. Assignment 4-
  • DLT (Direct Linear Transform)
  • Zhang's method to estimate the K Matrix
  • Epipolar lines for stereo images
  1. Project 1-
  • Pose Graph estimation for 1D SLAM
  • Pose Grraph estimation for 2D SLAM from scratch and using g2o