Perception in Robotics course (Term3 2020, Skoltech, Moscow-Russia)

Problem Sets

• PS1 - Probability, Multivariate Gaussian, Covariance Projection
• PS2 - Landmark-based robot localization using an Extended Kalman Filter (EKF) and Particle Filter (PF)
• PS3 - SLAM (landmark-SAM)
• PS4 - Point Cloud Alignment by Gradient Descent and Gauss-Newton

Final project

Coupling of localization and depth data for mapping using Intel RealSense T265 and D435i cameras

Repository https://github.com/IlinValery/perception_final_2020

Report https://arxiv.org/pdf/2004.00269.pdf

Requirements (for PS2 and PS3)

sudo apt install python3.7-venv
python3.7 -m venv venv
source venv/bin/activate

pip install -r requirements.txt