Written Notes | Course Notion | Shubodh's Notion
A repository to store all items pertaining to course Mobile Robotics
- Professor: K. Madhava Krishna
- Course notion page: Mobile Robotics 2021 - Students Page
This repository is for personal reference only. Please do not copy code for homework (understanding is better than grades). Please adhere to the license CC BY-NC-SA 4.0; appropriate credits, whenever needed, are given in notebooks.
The anaconda environment can be set up using anaconda-env.yml. Everything should work on Linux, there may be some problems using some frameworks (like Jax) on Windows.
The assignments given out (for the course) are summarized in the table below
| Assignment | Description |
|---|---|
| Assignment 1 | Transformations and representations, basic Open3D, quaternions, euler angles, etc. |
| Assignment 2 | Data Representation and Point Cloud Operations, registration, occupancy maps |
| Assignment 3 | Non-linear least squares optimization, ICP (Procrustes Alignment) |
| Assignment 4 | DLT, Fundamental matrix and epipolar geometry |
The projects given out (for the course) are summarized in the table below
| Projects | Description |
|---|---|
| Project 1 | SLAM (Localization only) using non-linear least squares optimization, given the using pose-graph (smoothing). Includes Evo and G2O tutorial. |
| Project 2 | Stereo, PnP, ICP and Bundle Adjustment |
Submission for the take-home end semester exam for Mobile Robotics Monsoon 2021 can be found here
