/Mobile_Robotics_Assignments

Assignments done for the Mobile Robotics course

Primary LanguageJupyter Notebook

Mobile_Robotics_Assignments

Group Members:

Udit Singh Parihar, Shubodh Sai

Assignments:

  1. Assignment 1: Lidar-Camera Calibration, DLT, Zhang's Method, Homography estimation and decomposition into K, R and T.
  2. Assignment 2: Epipolar lines and Epipoles calculation. Visual odometry calculation using essential matrix decomposition into R & T under RANSAC scheme.
  3. Assignment 3: Stereo reconstruction, Disparity Calculation, R|T estimation using PnP and implementation of Gauss Newton from scratch.
  4. Assignment 4: Motion model, observation model and pose estimation using EKF.
  5. Assignment 5: Trajectory planning using polynomials functions, Bernstein polynomials and obstacle avoidance.