Robotics Toolbox

Last updated on Dec 20, 2022
Code
Comparison of Robot poses before and after optimization

Implemented following functionality in the robotic toolbox:

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

My research interests include the intersection of 3D Computer Vision, Deep Learning, and SLAM.

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