Stage 3: Perception & Planning

Stage 3

In Stage 3, you'll add perception capabilities to your robots and implement intelligent planning algorithms.

Learning Objectives

By the end of this stage, you will be able to:

• Process and interpret camera and LIDAR data
• Implement object detection and recognition
• Design and execute motion planning algorithms
• Integrate perception with control systems

Prerequisites

You must complete Stage 2 before starting this stage.

Required knowledge:

• ROS 2 fundamentals
• Robot simulation experience
• Python and C++ programming

Topics Covered

1. Computer Vision

   • Image processing with OpenCV
   • Object detection (YOLO, SSD)
   • 3D vision and point clouds

2. LIDAR Processing

   • Point cloud filtering
   • Obstacle detection
   • Environment mapping

3. Motion Planning

   • Path planning algorithms (A*, RRT)
   • Trajectory optimization
   • Dynamic obstacle avoidance

4. Sensor Fusion

   • Kalman filtering
   • Multi-sensor integration
   • Localization techniques

Time Estimate

Expected completion time: 60-80 hours

Next Steps

Complete Stage 3 to unlock Stage 4: AI Integration, where you'll add machine learning and AI capabilities.

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Start with Camera Setup and Calibration!