Implementations and explorations of several pipelines and algorithms in Robotic Vision, as part of the Mobile Robotics (Monsoon 2021) class.
- Assignment 1
- Basics of Open3D
- Euler angles
- Gimble lock
- Quaternions
- Rodrigues formula
- Assignment 2
- Transformations in Homogenous coordinates
- Occupancy Map
- Assignment 3
- Gradiant descent optimization
- Gauss-Newton optimization
- Levenberg Marquardt optimization
- Procrustes alignment
- Iterative closest point algorithm
- Assignment 4
- Camera calibration (Direct Linear Transform)
- Zhangs method
- Epipolar Lines
- Project 1
- 1D and 2D pose-graph optimization
- Trajectory optimization with
g2o
- Project 2
- Dense stereo reconstruction
- Iterative PnP
- SfM and Bundle Adjustment