MTE 544 - Autonomous Mobile Robots

Info

Midterm: Nov 4

Coordinate & Transformations

• Coordinate Transformation in 2D
  • Special Orthogonal Group
  • Special Euclidean Group
• Coordinate Transform for Velocity
• 3D Rotation Matrix
• Euler Angles
• 3D Angular Velocities
• Properties of SO(3) and so(3)
• Unit Quaternion

Motion Modeling

• Motion Model
• Two-Wheel Mobile Robot
• Four-Wheel Front Steer Robot
• Four-Wheel Differential Drive Robot
• Holonomic Mobile Robots

Sensing and Measurement

• Inertial Sensors
• Position Sensors
• Odometry
• Camera Basics
• Camera Calibration
• Stereo Cameras
• Structure from Motion
  • Visual Odometry
• Projected Light Depth Cameras

Image Processing

• Image Processing
• Correlation and Convolution Filters
• Smoothing Filters
• Edge Detection Filters
• Feature Extraction
• Similarity Metrics
• Corner Detection
• Feature Matching
  • RANSAC

Range Sensors

• Sonar Sensors
• Infrared Sensors
• LiDAR
• Range-Based Feature Extraction

Localization and Mapping

• Localization and Mapping
• Probabilistic Motion Model
  • Velocity Motion Model
• Measurement Model
• Probability Theory for State Estimation
• Statistical Estimation
• Bayes Filter
• Markov Localization
• Occupancy Grid Mapping
• Likelihood Field Model
• Particle Filter