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.

Please, make sure you have the Singularity environment from Lab 01 ready.

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

Presentation: slides.

Point cloud sequences: data.

Follow the assignment of the homework HW 03.