HW1

Part1

The robot was rotated for 720 points about three different coordinates.Manifold obtained are:

(a)0,0

(b)100,-100

(a)50,25

We can infer from the manifold that it has one degree of freedom as expected.

Part2

Random position Random trajectory

Part3

For 100 test images localization error=85.2167485

Part4

Reconstruction error for part 1 Reconstruction error for part 2

Answers of questions

1. Yes, it is important to have texture on the walls otherwise multiple values of (x,y,theta) would correspond to same image.

2. If the third coordinate (which was varied) would have been z instead of theta then the manifold would have been an open curve instead of closed (multiple values of theta correspond to same direction).

3. The first question points to one of the limitations of this method. This method assumes one to one correspondence between input and output.

code