Course Description
Sensing and understanding the robot's environment. Camera models (monocular, stereo, RGB-D). LiDAR point cloud processing: filtering, registration, object detection. IMU integration and state estimation. Sensor fusion: extended Kalman filter, unscented Kalman filter, particle filter. Simultaneous Localization and Mapping (SLAM): GMapping, Cartographer, ORB-SLAM3, LIO-SAM. 3D object detection: PointPillars, VoxelNet. Lab work on physical robots in the Threshold Robotics Lab.