Introduction
Driving a robot by joystick doesn't require the robot to know where it is at all, a human is closing that loop,
Coordinate Frames
"Where is the robot?" isn't a complete question until it's answered relative to something. A position by itself,
Odometry
Given the field frame and robot frame, the simplest possible way for a robot to know its
Landmarks & AprilTags
Odometry ended on a hard limit: a system that only ever integrates relative motion has no way to
Hardware
Landmarks & AprilTags established what the robot needs to look for to correct
Vision Processing
A raw camera frame is just a grid of pixel brightness and color values, nothing in it is labeled "target." Vision
Pose Estimation
Vision Processing ends with a Transform3d from the camera to a detected AprilTag, useful,
Sensor Fusion
At this point, the robot has two independent ways to estimate its own pose, and neither one is good enough alone.
Latency
Sensor Fusion ended on an important detail: a vision
Advanced Vision Techniques
Everything from Coordinate Frames through Latency describes the common,