Implementation of various transformations and common representations for mobile robotics
- Perform scaling, rotation and translation on various pointclouds.
- Generate partial pointclouds using multiple different camera views.
- Register pointclouds to a global frame and reconstruct the full scene pointcloud.
- Computation of Chamfer's distance between constructed and ground truth pointclouds.
- Understanding of rotation matrices, quarternions and gimbal locks.
- Implementation of codes for conversation from one representation to another.
- Understanding homogeneous coordinates, vanishing points and points at infinity.
- Understanding of frame and point transformations.
- Working in the LiDAR frame and dealing with registration of point clouds.
- Working in the camera frame and the world frame.