Graph Based Visual SLAM

• Based on G2O - general graph optimization framwork, the project implements a key-frame based visual odometry SLAM frontend. It uses 3D-2D matching for solving bundle adjsuments on a ELP stereo camera. 3D point cloud of key frame is visualized.

Quacopter Simulation

• The python based open source project receives great popularity among the drone community. The simulator includes sensors modeling, EKF based sensor fusion and state estimation, quadcopter dynamics, minimum snap trajectory generation and control.

Vision-based quadcopter real time position control

• The project tracks and controls the position of a quadcopter with a color ball using monocular camera in real time.