TIEJ6001 COM1: Robot Perception: Laser Scanning and Point Cloud Processing (JSS33) (2 cr)
Study level:
Postgraduate studies
Grading scale:
Pass - fail
Language:
English
Responsible organisation:
Faculty of Information Technology
Curriculum periods:
2024-2025
Description
- Sensors, Sensor properties, Error sources
- Coordinate frames and transformation – Earth inertial, ECEF, navigation, body
- Map representations, scan matching, next best view planning, loop closure
- ICP-SLAM, GraphSLAM, Continuous-time SLAM
- Inertial navigation, Lidar-inertial sensor fusion (practical)
- Multi-sensor systems, Sensor fusion basics, Complementary characteristics of sensors
Learning outcomes
- Design an appropriate sensor system and select techniques to explore unknown spaces
- Appraise the use of different map representations in a given scenario
- Apply the appropriate coordinate frames and techniques
- Analyse point clouds with appropriate computational methods
Description of prerequisites
Master program entry-level requirements on Linear Algebra and Calculus (Bachelor completed or three years of university studies). Accepted students need to bring their own laptop with Wifi and Linux, preferably Ubuntu installed (dual-boot can be installed). Optional but useful: experience with c++, docker, ros.org.
Completion methods
Method 1
Description:
Lectures and exercises
Evaluation criteria:
Pass/fail (attendance and computational groupwork exercises)
Select all marked parts
Parts of the completion methods
x
Participation in teaching (2 cr)
Type:
Participation in teaching
Grading scale:
Pass - fail
Evaluation criteria:
<p>Pass/fail (attendance and computational groupwork exercises)</p>
Language:
English
Study methods:
Lectures and exercises