Kinematics & Dynamics
Configuration spaces, homogeneous coordinates, motion representations, and wheeled robot kinematics.
Camera Sensor Models
The pinhole camera model, lenses, intrinsics and extrinsics, and camera calibration, including Zhang’s method.
Beam Sensor Models
Probabilistic beam and likelihood-field models for sonar, lidar, and other range sensors.
Systems Integration
Gazebo simulation, ROS applications, and world authoring.