Tarekbouamer / Vision-Algorithms-for-Mobile-Robotics

I have been follwing this course as reference to build a strong background in Computer vision fro Autonomous sytems such as feature extraction, multiple view geometry, dense reconstruction, tracking, image retrieval, event-based vision, and visual-inertial odometry.

Augmented reality wireframe cube

The goal of this exercise is to superimpose a virtual cube on a video of a planar grid viewed from diffeerent orientations using perspective projection, change of coordinate systems and lens distortion.

The Perspective-n-Point (PnP)

Given a dataset of images, with a set of 2D-3D correspondences for each image, and the camera matrix K. we have implement the DLT algorithm to estimate the camera pose [R/t] for each image.

Harris Corner Detection and Keypoint Tracking

We have implemented Harris corner detection, matching Descriptor and keypoint tracking on the popular KITTI dataset.

SIFT (Scale-Invariant Feature Transform)

We have implemented the SIFT algorithm (descriptor) as simplified version of the original SIFT algorithm