RPCN should really sit at the core of my Robotics Master’s at the University of Twente. I take it in Q2 and hopefully I will deepen my SLAM understanding and overall sensor fusion knowledge in robotic applications.
Topics covered so far
- Perception Overview & Inertial Navigation
- Coordinate Systems
- Mechanization, Rodrigues’ Rotation Formula
- Pen and Paper Exercises Coordinate Systems
- Lidar-Inertial Perception, Iterative Closest Point (ICP)
- Simultaneous Localization and Mapping (SLAM)
- Cameras - Beyond RGB, PPROS and CONS of Sensor Configurations
- Camera Intrinsics, Depth Accuracy For Stereo Cameras
- The foundation of higher cognition, Conceptual spatial representations for indoor mobile robots, Human-Agent-Robot Teamwork
- Bundle Adjustment
- Path Planning
- Global Navigation Satellite System (GNSS)
- Sensor Fusion
Reference material:
- Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration, A. Noureldin, T. Karamat, J. Georgy, 2011, Springer-Verlag Berlin Heidelberg
- Halford, G. S., Wilson, W. H., & Phillips, S. (2010). Relational knowledge: The foundation of higher cognition. Trends in Cognitive Sciences, 14(11), 497–505.
- Springer handbook in robotics (book), sections 4.1 and 4.2, section 22, Section 37 SLAM: pp.871-890, especially 37.3.2 Graph-Based Optimization Techniques Book chapter, Section 3.5 on ICP SLAM