In the assignment 1, a simplified 2D robot is simulated using pyGame in order to estimate state applying Kalman filter algorithm.
In the assignment 2, a simplified 2D robot is simulated using pyGame in order to estimate state applying Particle filter algorithm.
In the assignment 3, Kimera-Semantics is installed and run on the demo rosbag. Kimera-Semantics builds a 3D mesh from the VIO pose estimates, and uses a combination of dense stereo and bundled raycasting.