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The great escape:
The great escape:
- Use your robot to build a map of a "maze" so YOU can escape it!
2.5 hours
2.5 hours
- Connect to to the robot and familiarise yourself with API. [link to repo]
- Teleop the robot using the keyboard.
- Collect images and odometry from the robot.
- Estimate Homography.
1.5 hours
1.5 hours
- Estimate motion from images.
- Graph optimisation. We recommend GTSAM4..
- Start on building the Occupancy Grid using the collected images and the optimised graph.
1.5 hours
1.5 hours
- Continue on building Occupancy Grid.
- Produce final map and save it as an image to disk.
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