avinash2468 / 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.

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

1. Assignment 1-

• Point Cloud Generation
• Affine Transformations

2. Assignment 2-

• Point cloud registration using global transformations
• Occupancy grid construction

3. Assignment 3-

• ICP (Iterative close point algorithm)
• Non-linear least squares using
  • Gradient Descent
  • Gauss Newton
  • Levenberg-Marquardt

4. Assignment 4-

• DLT (Direct Linear Transform)
• Zhang's method to estimate the K Matrix
• Epipolar lines for stereo images

5. Project 1-

• Pose Graph estimation for 1D SLAM
• Pose Grraph estimation for 2D SLAM from scratch and using g2o