👁️Robot Perception and State Estimation

By the end of this cursus you will be able to model a pinhole camera, calibrate it with OpenCV, recover stereo depth, downsample and register LiDAR point clouds with ICP, implement a Kalman filter predict-update cycle from scratch, and explain how ORB-SLAM3 and Cartographer solve the full SLAM problem including loop closure and pose-graph optimisation.