- Implemented a linear algorithm which could recover 2D robot poses and landmark positions with bearing-only measurements. With Reference to F. Dellaert, A.W. Stroupe, "Linear 2D Localization and Mapping for Single and Multiple Robot Scenarios"
- Currently working on transforming the linear 2D Localization and Mapping algorithm to 3D using vertical line detection
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3D Reconstruction using vertical lines to improve loop closure
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