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 Lab 01 ready.

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


Presentation: slides.

Point cloud sequences: data.

Homework 3 assignment

Follow the assignment of the homework HW 03.

courses/aro/tutorials/lab04.txt · Last modified: 2024/03/14 15:40 by peckama2