Blog Posts

• A tutorial on finding minimum point correspondences between two point sets

  July 24, 2024

  3D point cloud registration with a focus on minimum point correspondences theoretically

• Hands-on tutorial: Lie theory and using manif for 2D/3D SLAM

  August 20, 2021

  A gentle intro to Lie theory and its use in 2D/3D SLAM for robotics applications

• Least Squares Optimization in Vision and Robotics: A Generic Formulation

  December 03, 2020

  A crisp look at important optimization functions in Computer Vision and Robotics

• Featured Mobile Robotics: Navigating from Theory to Application

  August 15, 2020

  This resource is a series of detailed notes on mobile robotics concepts. The content is organized under three main umbrella topics: Geometric Transformations and Mapping, Optimization Techniques in Robotics, and Visual Perception and Camera Calibration.