ELEC 4260

Kinematics and Transformations

Kinematics

• Robot Kinematics
  • Forward Kinematics
  • Inverse Kinematics

Coordinate Transformations

• Coordinate Transformation
• 2D Transformation
• Homogeneous Coordinates

3D Rotations

• Rotation Matrix
• Euler Angles
• Axis-Angle Representation
• Quaternions

Mapping

• Types of Maps
• Grid Mapping
• KD Tree

Sensors & ICP

• Proprioceptive vs. Exteroceptive Sensors
• Sensor Characteristics
• Sensor Calibration
• IR Sensor
• Time-of-Flight Sensors
• Iterative Closest Point

Localization

• Localization
• Probability for Localization
• Bayes Filter
• Discrete Bayes Filter
• Particle Filter
• Kalman Filter

Path Planning and Following

• Configuration Space

• Path Planning Approaches and Guarantees

• Breadth First Search

• Depth First Search

• Dijkstra’s Algorithm

• A* Algorithm

• Probabilistic Road Maps

• Rapidly Exploring Random Tree

• Potential Field Path Planning

• Bezier Curve

• Bang-Bang Controller

• PID Controller

Camera

• Pinhole Camera
• Camera Projection
• Camera Parameters
• Camera Calibration
• Restricted Camera Estimation
• Camera Triangulation
• Stereo Camera
• Camera Disparity

Projects

• ELEC 4260 Project 1 Report