- SLAM Visualization for Player: Final Report
Introduction
This project is an attempt to implement a 3D visualization of simultaneous localization and mapping (SLAM) based on raw sensor data provided by the Player robotics framework.
This project is useful for both research and application purposes. Visualization of SLAM in research can help robotists better debug their robots. It can also provide much more information [...]
- Mobile Robot Programming Project
This is the course project for Mobile Robot Programming with Professor Zack Butler.
The goal of this project is to create a program that controls a Pioneer robot to navigate on a floor and reach a list of waypoints in their given order. The robot will start at one of given 8 locations and has to [...]
- Ray Tracer Assignment: Checkpoint 7
Tone Reproduction
This is the final checkpoint for the raytracer project. The goal is simply to map produced images into real life luminance and compress them using different operations to produce film like effects.
Original picture:Using Ward’s operator:
Lmax = 1
Lmax = 1000
Lmax = 10000
Using Reinhard’s operatorLmax = 1
Lmax = 1000
Lmax = 10000
Final Code
The raytracer is currently open [...]
- Ray Tracer Assignment: Checkpoint 6
Transmission
At the intersection point, in addition to the reflection ray and the shadow ray, you must follow the transmission ray (through the intersected object) to determine its color contribution to the intersection point.
Use an index of refraction of 1.0 for the air around your objects.
The transmission ray moves into the object from the original [...]
- Ray Tracer Assignment: Checkpoint 5
Reflection
At the intersection point, you’ll need to obtain the reflection ray in addition to the shadow ray, and to follow the reflection ray to determine its color contribution to the intersection point. Note that the reflected ray is the reflection of the incoming ray (from the camera, or another reflected ray spawned from an earlier [...]
- SLAM Visualization for Player: Midquarter Update
Midquarter Update
What’s Been Done So Far
The SLAM tutorial papers have been investigated. A cheap/fast version of SLAM has been developed that calculates the robot’s current position based on previous estimates and built probabilistic map using Markov-based localization. Basically, it evaluates a bunch of random points around the previous location and score each location candidate by [...]
- Probabilistic Mapping
This is a homework assignment for Mobile Robot Programming.
A probabilistic map is built for a simulated pioneer robot using 8 sonar sensors. The sensor model used was just a really simple condition based model. However, more complicated model can be plugged in to deal with noise in the real world. I enjoyed watching the map [...]
- Ray Tracer Assignment: Checkpoint 4
Procedural Shading
Using the program from Checkpoint #3 (without extras), the task for this assignment is to add procedural shading to the ray tracer.Another procedural shading pattern using sine waves (Extra):
Texture mapping (Extra):
