====== Lab 04 ======

During the lab we will touch on the following topics:

   * Lidar SLAM (Simultaneous Localization and Mapping),
   * ICP (Iterative Closest Point) technique to align point clouds,
   * Absolute Orientation problem as a part of ICP,
   * Point-to-point and point-to-plane metrics,
   * Making ICP robust to outliers.

At the seminar, we will deal with not only simulated examples, but also try to align point cloud scans taken from a real-world environment.


===== Lab task =====

Please, make sure you have the Singularity environment from [[lab01|Lab 01]] ready.

We will be working on file ''aro_exploration/src/aro_slam/icp.py''. See [[homework03|HW 03]] page for options on how to run it.

===== Media =====

Presentation: [[https://docs.google.com/presentation/d/1-jXWDq8zzeChghBS4-fUhDasKG5jQ_cdvJ6yG9qGoVo/edit?usp=sharing|slides]].

Point cloud sequences: [[http://ptak.felk.cvut.cz/vras/data/fee_corridor/|data]].

===== Homework 3 assignment =====

Follow the assignment of the homework [[homework03|HW 03]].