A considerably difficult aspect of Simultaneous Localization and Mapping (SLAM) is the problem of uncertainty constrained long term point-to-point navigation where global loop closures to eliminate estimation biases may not be possible. In such scenarios, a prime concern is to control the rate of localization error growth. We have developed fundamental results on the underlying […]

I primarily use a Mac for my work, but since a I do a lot of robotics I have to switch over to Ubuntu to use ROS. Having a linux dual boot on a mac is doable and I have done it in the past (see instructions if you’re interested), but I just felt that giving up […]

Surprisingly there is no clear cut instruction anywhere. My questions was, if I tracked an image feature from the Kinect, how would I know its 3D position? I wanted to convert 2D pixel coordinates (u,v) to X,Y,Z from a point cloud that I got from kinect. I wrote a function to do it, I pass […]