Semantic Geometric SLAM (SG-SLAM) in Dynamic Scenes
Reimplemented SG-SLAM — an RGB-D SLAM system that filters dynamic features by scaling their epipolar residual with a per-class semantic weight — and reproduced its benchmark against ORB-SLAM2 on 14 TUM and Bonn sequences.
Apr 19, 2024
Real-Time 2D Object Recognition with Feature Matching
A real-time C++/OpenCV recognition system built from first principles — 2-means thresholding, hand-written image moments, and shape features that separate 11 object classes without a neural network in sight.
Mar 30, 2024
Camera Calibration and Augmented Reality
Calibrated two cameras to sub-pixel reprojection error, estimated live pose with solvePnP, and rendered virtual geometry onto a chessboard — then warped an image over the board so the marker stopped looking like a marker.
Mar 18, 2024