- 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 [...]
- 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 operator Lmax = 1 Lmax [...]
- 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 [...]
- 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 [...]
- 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 [...]
- 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):
- Ray Tracer Assignment: Checkpoint 3
Phong Illumination Using the program from checkpoint #2 (without extras), the task for this assignment is to add Phong Illumination to the ray tracer. On intersection, rather than return the color of the object hit, calculate the color at the intersection point using the Phong Illumination model. To apply the Phong model, if there is [...]
- SLAM Visualization for Player
Project Proposal Summary 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, once built, will be extremely useful for both research and application propurses. Visualization of SLAM in research can help robotists better debug their [...]
