# Lab 8 - Perception and PlanningΒΆ

Tip

Before starting this lab, review the Lecture 17 and Lecture 18 to ensure you are familiar with the material.

**Goals:**

**Learning Outcomes:**

Vision and Perception

Camera model and parameters:You should be able to understand how the real camera model and the pin hole camera model are related and what assumptions are made while going from the former to the latter.

Transformations:You should be able to understand 3 dimensional transformations and know the representations of transformations.

Single View Geometry:You should be able to understand and work with single view geometry and how world coordinate frame points translate to camera coordinate frame points.

Homography:You should be able to work with homography and how it can be used to calculate pose of the camera given the world coordinate correspondances.Programming skills

Working with images on ROS

Transformations using tf and implementation of AprilTags and similar libraries.

Implementing nodelets in ROS and their advantages.

**Required Skills:** ROS, Python/C++

**Allotted Time:** 1 week

**Repository:**Github Repository