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Homework | Reprojection Error

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1 Homework | Reprojection Error
What is re-projection error? What is photometric error? Which parameters can be optimized to minimize the re-projection error? How does this differ from the optimization in bundle adjustment? What are the four coordinate frames associated with calculating re-projection error?

2 Implement a 2D scan registration algorithm and test using this data.
Homework |Scan Registration Implement a 2D scan registration algorithm and test using this data.

3 Homework |IMU Noise Characterization
What are the definitions of these terms? Quantization Noise Angle / Velocity Random Walk Noise Correlated Noise Bias Instability Noise Rate / Acceleration Random Walk Noise Simulate an IMU using the standard noise model Plot Fourier Transform and Power Spectral Density of simulated IMU Extract the IMU Noise characteristics using Allan Variance

4 Discussion |Landmark Based VIO
Discussion topics Algorithm choices often seem empirical Is there something to emulate here? Should we value KITTI benchmark results?

5 Discussion | Calibration
Discussion topics Why is calibration so challenging? How do we evaluate calibration? How accurate do these have to be?

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