Table of Contents

Lab 04

Lab 04

This lab page has not yet been ported to ROS 2. It will be updated shortly.

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 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.

Media

Presentation: slides.

Point cloud sequences: data.

Homework 3 assignment

Follow the assignment of the homework HW 03.