http://www.cds.caltech.edu/~murray/wiki/api.php?action=feedcontributions&user=Stsuei&feedformat=atomMurrayWiki - User contributions [en]2019-09-21T03:09:36ZUser contributionsMediaWiki 1.23.12http://www.cds.caltech.edu/~murray/wiki/index.php?title=September_2013_MeetingsSeptember 2013 Meetings2013-08-26T17:52:28Z<p>Stsuei: /* Thu, 12 Sep */</p>
<hr />
<div>The list below has times that I am available to meet between 3 and 13 September. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and figure out how much of a bribe is required to get them to switch). __NOTOC__<br />
<br />
{| border=1 width=100%<br />
|- valign=top<br />
| width=20% |<br />
2 Sep - Labor Day<br />
| width=20% |<br />
==== Tue, 3 Sep ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Emzo}}<br />
{{agenda item|3:00p|Joe Levine}}<br />
{{agenda item|&nbsp;|&nbsp;}}<br />
{{agenda item|4:30|Enoch}}<br />
{{agenda item|5:30|Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
==== Wed, 4 Sep ====<br />
{{agenda begin}}<br />
{{agenda item|&nbsp;|&nbsp;}}<br />
{{agenda item|&nbsp;|&nbsp;}}<br />
{{agenda item|&nbsp;|&nbsp;}}<br />
{{agenda item|4:30|Open}}<br />
{{agenda item|5:30|Open}}<br />
{{agenda end}}<br />
| colspan=2 width=40% |<br />
==== Thu, 5 Sep / Fri, 6 Sep ====<br />
{| cellspacing=0 cellpadding=0<br />
|- valign=top<br />
| width=50% |<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|&nbsp;|&nbsp;}}<br />
{{agenda item|4:30|Open}}<br />
{{agenda item|5:30|Open}}<br />
{{agenda end}}<br />
| width=50% |<br />
Note: I may need to travel on either Thu or Fri {{implies}} please only sign up for a slot if you can make that time on both days.<br />
|}<br />
|- valign=top<br />
| colspan=2 width=40% |<br />
==== Mon, 9 Sep / Tue, 10 Sep ====<br />
{| cellspacing=0 cellpadding=0<br />
|- valign=top<br />
| width=50% |<br />
{{agenda begin}}<br />
{{agenda item|2:00p|dsg}}<br />
{{agenda item|3:00p|Scott Livingston}}<br />
{{agenda item|&nbsp;|&nbsp;}}<br />
{{agenda item|4:30|Open}}<br />
{{agenda item|5:30|Open}}<br />
{{agenda end}}<br />
| width=50% |<br />
Note: I may need to travel on either Mon or Tue {{implies}} please only sign up for a slot if you can make that time on both days.<br />
|}<br />
| width=20% |<br />
<br />
==== Wed, 11 Sep ====<br />
{{agenda begin}}<br />
{{agenda item|1:00p|Open}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|&nbsp;|&nbsp;}}<br />
{{agenda item|4:00|Open}}<br />
{{agenda item|5:00|Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
==== Thu, 12 Sep ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Stephanie}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|&nbsp;|&nbsp;}}<br />
{{agenda item|4:30|Open}}<br />
{{agenda item|5:30|Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Fri, 13 Sep ====<br />
{{agenda begin}}<br />
{{agenda item|1:00p|Vanessa}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda end}}<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Aircraft_modelsAircraft models2013-04-02T21:43:06Z<p>Stsuei: </p>
<hr />
<div>This is a list of some aircraft models that we can work with. <br />
<br />
{| class="wikitable"<br />
|-<br />
! Model Name !! Aircraft !! Implementation !! Nonlinear !! Actuator Restrictions !! Multiple Modes !! Notes<br />
|-<br />
| [http://jsbsim.sourceforge.net JSBSim] || [http://en.wikipedia.org/wiki/Airbus_A320_family Airbus 320], [http://en.wikipedia.org/wiki/Boeing_B-17_Flying_Fortress B-17], [http://en.wikipedia.org/wiki/Boeing_737 Boeing 737], [http://en.wikipedia.org/wiki/Boeing_747 Boeing 747], [http://en.wikipedia.org/wiki/McDonnell_Douglas_F-4_Phantom_II F-4], [http://en.wikipedia.org/wiki/North_American_Rockwell_OV-10_Bronco OV10], [http://en.wikipedia.org/wiki/Schweizer_SGS_2-33 SGS] (and a small version), [http://en.wikipedia.org/wiki/Short_Empire Short S23], [http://en.wikipedia.org/wiki/Space_Shuttle Space Shuttle], [http://wiki.flightgear.org/Submarine_Scout Submarine Scout], [http://en.wikipedia.org/wiki/Cessna_T-37_Tweet Cessna T-37], [http://en.wikipedia.org/wiki/Northrop_T-38_Talon T-38], [http://en.wikipedia.org/wiki/North_American_X-15 X-15], [http://wiki.flightgear.org/Cessna_172P Cessna 172P], [http://wiki.flightgear.org/Cessna_172R Cessna 172R], [http://www.airliners.net/photo/Cessna-172X/1768346/M/ Cessna 172X], [http://en.wikipedia.org/wiki/Cessna_182 Cessna 182], [http://en.wikipedia.org/wiki/Cessna_310 Cessna 310], [http://en.wikipedia.org/wiki/Lockheed_F-104_Starfighter F-104], [http://en.wikipedia.org/wiki/McDonnell_Douglas_F-15_Eagle F-15], [http://en.wikipedia.org/wiki/General_Dynamics_F-16_Fighting_Falcon F-16], [http://en.wikipedia.org/wiki/Lockheed_Martin_F-22_Raptor F-22], [http://en.wikipedia.org/wiki/Fokker_100 Fokker 100], [http://en.wikipedia.org/wiki/Fokker_50 Fokker 50], [http://en.wikipedia.org/wiki/North_American_P-51_Mustang P-51d], [http://en.wikipedia.org/wiki/Piper_PA-28_Cherokee PA-28], generic paraglider, flying sphere, [http://en.wikipedia.org/wiki/Schweizer_SGS_1-26 SGS 1-26], [http://en.wikipedia.org/wiki/Beechcraft_T-6_Texan_II T-6], [http://en.wikipedia.org/wiki/Martin_Marietta_X-24B X-24B] || C++, has a [http://jsbsim-python.sourceforge.net/ Python wrapper] || Yes || Yes || Yes || Modes configured with a "script", Airplanes properties and constants (including actuator restrictions) specified with an XML file that is fed into an abstract system<br />
|-<br />
| [http://dutchroll.com FDC Toolbox] || [http://en.wikipedia.org/wiki/De_Havilland_Canada_DHC-2_Beaver De Havilland Canada DHC-2 "Beaver"] || Simulink || Yes || ? || ? || -<br />
|-<br />
| What Eugene Lavresky sent us || [http://www.darpa.mil/Our_Work/TTO/Programs/Vulture.aspx Vulture] || Matlab || No || No || No || This is essentially a set of hovering solar panels and not the typical aircraft or helicopter<br />
|-<br />
| [http://wiki.flightgear.org/YASim YASim] || Lots of them || C++ || Yes || Probably || Yes || Essentially the same as JSBSim, but uses geometry instead of lookup tables<br />
|-<br />
| [http://www.ae.illinois.edu/m-selig/apasim/Aircraft-uiuc.html UIUC] || Lots of them || C/C++ || Yes || Probably || Probably || Being phased out in favor of JSBSim and YASim<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=SoCal_Control_Workshop_Carpool_2012-11-30SoCal Control Workshop Carpool 2012-11-302012-11-28T01:00:07Z<p>Stsuei: </p>
<hr />
<div>Please enter information in the table below if you can give a ride or need a ride. If you can't edit the table, send e-mail to the driver (if you need a ride) or to Richard (if you can provide a ride).<br />
<br />
* [http://tintoretto.ucsd.edu/jorge/sccw/index.html Workshop web page]<br />
<br />
{| width=100% cellpadding=0 cellspacing=0<br />
|- valign=top<br />
| width=50% align=left|<br />
==== Driving out to UCSD ====<br />
{| border=1 <br />
|- valign=top<br />
| Departure time<br />
| Driver<br />
| Passengers<br />
|- valign=top<br />
| 6:30 am<br />
| Richard Murray<br />
| 3 passengers:<br />
* Vipul<br />
* Yoke Peng<br />
* Eric<br />
|- valign=top<br />
| 6:30 am<br />
| Marcella (mgomez@caltech.edu)<br />
| 3 passengers:<br />
* Ioannis<br />
* Zoltan<br />
* Mickey<br />
|- valign=top<br />
| 6:30 am<br />
| Kevin Shan<br />
| 3 passengers:<br />
* Seungil<br />
* Anandh<br />
*<br />
|- valign=top<br />
| 6:30 am<br />
| <br />
| 3 passengers:<br />
* Nikolai<br />
* <br />
* <br />
|}<br />
| width=50% align=left|<br />
<br />
==== Returning to Pasadena ====<br />
{| border=1<br />
|- valign=top<br />
| Departure time<br />
| Driver<br />
| Passengers<br />
|- valign=top<br />
| 5:30 pm<br />
| Richard Murray<br />
| 3 passengers<br />
* Vipul<br />
* Yoke Peng<br />
* Eric<br />
|- valign=top<br />
| After dinner ~7:30 pm<br />
| Marcella<br />
| 3 passengers<br />
* Ioannis<br />
* Zoltan<br />
|- valign=top<br />
| 5:30pm<br />
| Kevin Shan<br />
| 3 passengers<br />
* Seungil<br />
* Anandh<br />
*<br />
|- valign=top<br />
| 5:30pm<br />
| <br />
| 3 passengers<br />
* Nikolai<br />
*<br />
*<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=SoCal_Control_Workshop_Carpool_2012-11-30SoCal Control Workshop Carpool 2012-11-302012-11-26T17:53:47Z<p>Stsuei: /* Driving out to UCSD */</p>
<hr />
<div>Please enter information in the table below if you can give a ride or need a ride. If you can't edit the table, send e-mail to the driver (if you need a ride) or to Richard (if you can provide a ride).<br />
<br />
* [http://tintoretto.ucsd.edu/jorge/sccw/index.html Workshop web page]<br />
<br />
{| width=100% cellpadding=0 cellspacing=0<br />
|- valign=top<br />
| width=50% align=left|<br />
==== Driving out to UCSD ====<br />
{| border=1 <br />
|- valign=top<br />
| Departure time<br />
| Driver<br />
| Passengers<br />
|- valign=top<br />
| 6:30 am<br />
| Richard Murray<br />
| 3 passengers:<br />
* Vipul<br />
* Yoke Peng<br />
* Eric<br />
|- valign=top<br />
| 6:30 am<br />
| Driver<br />
| N passengers:<br />
* Ioannis<br />
* Zoltan<br />
|- valign=top<br />
| 6:30 am<br />
| Kevin Shan<br />
| 3 passengers:<br />
* Seungil<br />
* Anandh<br />
* Stephanie<br />
|}<br />
| width=50% align=left|<br />
<br />
==== Returning to Pasadena ====<br />
{| border=1<br />
|- valign=top<br />
| Departure time<br />
| Driver<br />
| Passengers<br />
|- valign=top<br />
| 5:30 pm<br />
| Richard Murray<br />
| 3 passengers<br />
* Vipul<br />
* Yoke Peng<br />
* Eric<br />
|- valign=top<br />
| 5:30 pm<br />
| Driver<br />
| N passengers<br />
* Ioannis<br />
* Zoltan<br />
|- valign=top<br />
| 5:30pm<br />
| Kevin Shan<br />
| 3 passengers<br />
* Seungil<br />
* Anandh<br />
* Stephanie<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=SoCal_Control_Workshop_Carpool_2012-11-30SoCal Control Workshop Carpool 2012-11-302012-11-26T17:53:35Z<p>Stsuei: /* Returning to Pasadena */</p>
<hr />
<div>Please enter information in the table below if you can give a ride or need a ride. If you can't edit the table, send e-mail to the driver (if you need a ride) or to Richard (if you can provide a ride).<br />
<br />
* [http://tintoretto.ucsd.edu/jorge/sccw/index.html Workshop web page]<br />
<br />
{| width=100% cellpadding=0 cellspacing=0<br />
|- valign=top<br />
| width=50% align=left|<br />
==== Driving out to UCSD ====<br />
{| border=1 <br />
|- valign=top<br />
| Departure time<br />
| Driver<br />
| Passengers<br />
|- valign=top<br />
| 6:30 am<br />
| Richard Murray<br />
| 3 passengers:<br />
* Vipul<br />
* Yoke Peng<br />
* Eric<br />
|- valign=top<br />
| 6:30 am<br />
| Driver<br />
| N passengers:<br />
* Ioannis<br />
* Zoltan<br />
|- valign=top<br />
| 6:30 am<br />
| Kevin Shan<br />
| 3 passengers:<br />
* Seungil<br />
* Anandh<br />
* Open<br />
|}<br />
| width=50% align=left|<br />
<br />
==== Returning to Pasadena ====<br />
{| border=1<br />
|- valign=top<br />
| Departure time<br />
| Driver<br />
| Passengers<br />
|- valign=top<br />
| 5:30 pm<br />
| Richard Murray<br />
| 3 passengers<br />
* Vipul<br />
* Yoke Peng<br />
* Eric<br />
|- valign=top<br />
| 5:30 pm<br />
| Driver<br />
| N passengers<br />
* Ioannis<br />
* Zoltan<br />
|- valign=top<br />
| 5:30pm<br />
| Kevin Shan<br />
| 3 passengers<br />
* Seungil<br />
* Anandh<br />
* Stephanie<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Aircraft_modelsAircraft models2012-11-05T08:21:11Z<p>Stsuei: </p>
<hr />
<div>This is a list of some aircraft models that we can work with. <br />
<br />
{| class="wikitable"<br />
|-<br />
! Model Name !! Aircraft !! Implementation !! Nonlinear !! Actuator Restrictions !! Multiple Modes !! Notes<br />
|-<br />
| [http://jsbsim.sourceforge.net JSBSim] || [http://en.wikipedia.org/wiki/Airbus_A320_family Airbus 320], [http://en.wikipedia.org/wiki/Boeing_B-17_Flying_Fortress B-17], [http://en.wikipedia.org/wiki/Boeing_737 Boeing 737], [http://en.wikipedia.org/wiki/Boeing_747 Boeing 747], [http://en.wikipedia.org/wiki/McDonnell_Douglas_F-4_Phantom_II F-4], [http://en.wikipedia.org/wiki/North_American_Rockwell_OV-10_Bronco OV10], [http://en.wikipedia.org/wiki/Schweizer_SGS_2-33 SGS] (and a small version), [http://en.wikipedia.org/wiki/Short_Empire Short S23], [http://en.wikipedia.org/wiki/Space_Shuttle Space Shuttle], [http://wiki.flightgear.org/Submarine_Scout Submarine Scout], [http://en.wikipedia.org/wiki/Cessna_T-37_Tweet Cessna T-37], [http://en.wikipedia.org/wiki/Northrop_T-38_Talon T-38], [http://en.wikipedia.org/wiki/North_American_X-15 X-15], [http://wiki.flightgear.org/Cessna_172P Cessna 172P], [http://wiki.flightgear.org/Cessna_172R Cessna 172R], [http://www.airliners.net/photo/Cessna-172X/1768346/M/ Cessna 172X], [http://en.wikipedia.org/wiki/Cessna_182 Cessna 182], [http://en.wikipedia.org/wiki/Cessna_310 Cessna 310], [http://en.wikipedia.org/wiki/Lockheed_F-104_Starfighter F-104], [http://en.wikipedia.org/wiki/McDonnell_Douglas_F-15_Eagle F-15], [http://en.wikipedia.org/wiki/General_Dynamics_F-16_Fighting_Falcon F-16], [http://en.wikipedia.org/wiki/Lockheed_Martin_F-22_Raptor F-22], [http://en.wikipedia.org/wiki/Fokker_100 Fokker 100], [http://en.wikipedia.org/wiki/Fokker_50 Fokker 50], [http://en.wikipedia.org/wiki/North_American_P-51_Mustang P-51d], [http://en.wikipedia.org/wiki/Piper_PA-28_Cherokee PA-28], generic paraglider, flying sphere, [http://en.wikipedia.org/wiki/Schweizer_SGS_1-26 SGS 1-26], [http://en.wikipedia.org/wiki/Beechcraft_T-6_Texan_II T-6], [http://en.wikipedia.org/wiki/Martin_Marietta_X-24B X-24B] || C++, has a [http://jsbsim-python.sourceforge.net/ Python wrapper] || Yes || Yes || Yes || Modes configured with a "script", Airplanes properties and constants (including actuator restrictions) specified with an XML file that is fed into an abstract system<br />
|-<br />
| [http://dutchroll.com FDC Toolbox] || [http://en.wikipedia.org/wiki/De_Havilland_Canada_DHC-2_Beaver De Havilland Canada DHC-2 "Beaver"] || Simulink || Yes || ? || ? || -<br />
|-<br />
| What Eugene Lavresky sent us || [http://www.darpa.mil/Our_Work/TTO/Programs/Vulture.aspx Vulture] || Matlab || No || No || No || This is essentially a set of hovering solar panels and not the typical aircraft or helicopter<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Aircraft_modelsAircraft models2012-11-05T06:12:39Z<p>Stsuei: </p>
<hr />
<div>This is a list of some aircraft models that we can work with. <br />
<br />
{| class="wikitable"<br />
|-<br />
! Model Name !! Aircraft !! Implementation !! Nonlinear !! Actuator Restrictions !! Multiple Modes <br />
|-<br />
| [http://dutchroll.com FDC Toolbox] || [http://en.wikipedia.org/wiki/De_Havilland_Canada_DHC-2_Beaver De Havilland Canada DHC-2 "Beaver"] || Simulink || Yes || ? || ? <br />
|-<br />
| What Eugene Lavresky sent us || [http://www.darpa.mil/Our_Work/TTO/Programs/Vulture.aspx Vulture] || Matlab || No || No || No<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Aircraft_modelsAircraft models2012-11-05T06:08:27Z<p>Stsuei: </p>
<hr />
<div>This is a list of some aircraft models on the Internet. <br />
<br />
{| class="wikitable"<br />
|-<br />
! Model Name !! Aircraft !! Implementation !! Nonlinear !! Actuator Restrictions !! Multiple Modes <br />
|-<br />
| [http://dutchroll.com FDC Toolbox] || [http://en.wikipedia.org/wiki/De_Havilland_Canada_DHC-2_Beaver De Havilland Canada DHC-2 "Beaver"] || Simulink || Yes || ? || ? <br />
| What Dr. Lavresky sent us || [http://www.darpa.mil/Our_Work/TTO/Programs/Vulture.aspx Vulture] || Matlab || ? || ? || ?<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Aircraft_modelsAircraft models2012-11-05T05:21:26Z<p>Stsuei: </p>
<hr />
<div>This is a list of some aircraft models on the Internet. <br />
<br />
{| class="wikitable"<br />
|-<br />
! Model Name !! Aircraft !! Implementation !! Nonlinear !! Actuator Restrictions !! Multiple Modes<br />
|-<br />
| [http://dutchroll.com FDC Toolbox] || De Havilland Canada DHC-2 "Beaver" || Simulink || Yes || ? || ?<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Aircraft_modelsAircraft models2012-11-05T05:20:37Z<p>Stsuei: Created page with "{| class="wikitable" |- ! Model Name !! Aircraft !! Implementation !! Nonlinear !! Actuator Restrictions !! Multiple Modes |- | [http://dutchroll.com FDC Toolbox] || De Havill..."</p>
<hr />
<div>{| class="wikitable"<br />
|-<br />
! Model Name !! Aircraft !! Implementation !! Nonlinear !! Actuator Restrictions !! Multiple Modes<br />
|-<br />
| [http://dutchroll.com FDC Toolbox] || De Havilland Canada DHC-2 "Beaver" || Simulink || Yes || ? || ?<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Group_Schedule,_Fall_2012Group Schedule, Fall 20122012-10-15T20:14:48Z<p>Stsuei: /* Week 10: 3-7 Dec */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [[Schedule|Richard's calendar (travel)]]<br />
| width=50% |<br />
* [[Group Schedule, Summer 2012]]<br />
|}<br />
<br />
The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:<br />
:{| width=100%<br />
|- valign=top<br />
| width=30% |<br />
* Group meetings - 114 Steele Lab<br />
| width=30% |<br />
* Biocircuits subgroup - 111 Keck<br />
| width=30% |<br />
* NCS subgroup - 110 Steele<br />
|}<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=30% |<br />
=== Week 1: 1-5 Oct ===<br />
'''Biocircuits: 4 Oct (Thu), 10 am - 12 pm'''<br />
* Gita Mahmoudabadi (30 min)<br />
* Victoria (15 min)<br />
* Zach (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 4 Oct (Thu), 4-5:30 pm'''<br />
* Necmiye (15 min)<br />
* Research update (15 min)<br />
* Git tutorial by Scott (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* Richard out of town Tue-Wed<br />
* No group meeting this week<br />
<br />
| width=30% |<br />
<br />
=== Week 2: 8-12 Oct ===<br />
'''NCS: 10 Oct (Wed), 4:30-6:00 pm'''<br />
* <strike> Andrea </strike> Adam (<s>15</s> 45 min)<br />
* Marcella (<s>15</s> 45 min)<br />
* <strike> Mumu </strike> (15 min)<br />
* Project updates<br />
<br />
'''Biocircuits: 11 Oct (Thu), 10 am - 12 pm'''<br />
* Nadine (30 min)<br />
* Research update (15 min)<br />
* Anu (15 min)<br />
* Lab updates<br />
<br />
<hr><br />
* Richard out of town Mon, Tue am, Fri pm<br />
* Aaron Ames visiting on Thu (seminar @ noon)<br />
* No group meeting this week<br />
| width=30% |<br />
<br />
=== Week 3: 15-19 Oct ===<br />
* Richard out of town all week<br />
* Biocircuits lab cleanup: 16 Oct (Tue), 10 am - 12 pm<br />
<br />
|- valign=top<br />
| width=30% |<br />
=== Week 4: 22-26 Oct ===<br />
'''Biocircuits: 23 Oct (Tue), 10 am - 12 pm'''<br />
* Enoch (30 min)<br />
* Jongmin (15 min)<br />
* Vanessa (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 23 Oct (Tue), 4-5:30 pm'''<br />
* Eric (15 min)<br />
* Scott Livingston (15 min)<br />
* Mumu (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* Ram Vasuvian visiting on Mon (seminar @ 11)<br />
* DARPA Living Foundries west coast meeting on Thu (Richard out)<br />
* No group meeting this week<br />
<br />
| width=30% |<br />
<br />
=== Week 5: 29 Oct - 2 Nov ===<br />
'''NCS: 31 Oct (Wed), 4:30-6:00 pm'''<br />
* Shuo (15 min)<br />
* Research update (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
'''Biocircuits: 1 Nov (Thu), 10 am - 12 pm'''<br />
* Marcella (30 min)<br />
* Anandh (15 min)<br />
* dan (15 min)<br />
* Lab updates<br />
<br />
<hr><br />
* Richard out of town on Tue<br />
* iGEM World Jamboree, Fri-Mon<br />
* No group meeting this week<br />
| width=30% |<br />
<br />
=== Week 6: 5-9 Nov ===<br />
'''Biocircuits: 6 Nov (Tue), 10 am - 12 pm'''<br />
* Anu (30 min)<br />
* Emzo (15 min)<br />
* Nadine (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 7 Nov (Wed), 4:30-6:00 pm'''<br />
* Fei (15 min)<br />
* Necmiye (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* No group meeting this week<br />
<br />
|- valign=top<br />
| width=30% |<br />
<br />
=== Week 7: 12-16 Nov ===<br />
'''Biocircuits: 15 Nov (Thu), 10 am - 12 pm'''<br />
* Ophelia (30 min)<br />
* Zach (15 min)<br />
* Enoch (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 15 Nov (Thu), 4-5:30 pm'''<br />
* Marcella (15 min)<br />
* Mumu (15 min)<br />
* Open (15 min)<br />
* Quentin (15 min)<br />
<br />
<hr><br />
* No group meeting this week<br />
<br />
| width=30% |<br />
<br />
=== Week 8: 19-23 Nov ===<br />
* Richard out of town all week<br />
* Biocircuits lab cleanup: 20 Nov (Tue), 10 am - 12 pm<br />
* Thanksgiving break, Thu-Fri<br />
* No group meeting this week<br />
<br />
| width=30% |<br />
=== Week 9: 26-30 Nov ===<br />
'''Biocircuits: 27 Nov (Tue), 10 am - 12 pm'''<br />
* Vanessa (30 min)<br />
* Jongmin (15 min)<br />
* Victoria (15 min)<br />
* Ishan (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 28 Nov (Wed), 4:30-6:00 pm'''<br />
* Eric (15 min)<br />
* Scott Livingston (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* DARPA breadboards telecon, Thu @ 9:30 am<br />
* SoCal Control Workshop, Fri (UC San Diego)<br />
* No group meeting this week<br />
<br />
|- valign=top<br />
| width=30% |<br />
<br />
=== Week 10: 3-7 Dec ===<br />
'''Biocircuits: 4 Dec (Tue), 10 am - 12 pm'''<br />
* Emzo (30 min)<br />
* Marcella (15 min)<br />
* dan (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 5 Dec (Wed), 4:30-6:00 pm'''<br />
* Shuo (15 min)<br />
* Anandh (15 min)<br />
* Stephanie (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* No group meeting this week<br />
<br />
| width=30% |<br />
<br />
=== Week 11: 10-14 Dec ===<br />
* CDC week, no group meetings<br />
* Biocircuits lab cleanup: 11 Dec (Tue), 10 am - 12 pm<br />
<br />
| width=30% |<br />
=== Week 12: 17-21 Dec ===<br />
* Winter break, no group meetings<br />
* Richard around Mon-Thu<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Group_Schedule,_Fall_2012Group Schedule, Fall 20122012-10-15T20:14:03Z<p>Stsuei: /* Week 7: 12-16 Nov */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [[Schedule|Richard's calendar (travel)]]<br />
| width=50% |<br />
* [[Group Schedule, Summer 2012]]<br />
|}<br />
<br />
The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:<br />
:{| width=100%<br />
|- valign=top<br />
| width=30% |<br />
* Group meetings - 114 Steele Lab<br />
| width=30% |<br />
* Biocircuits subgroup - 111 Keck<br />
| width=30% |<br />
* NCS subgroup - 110 Steele<br />
|}<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=30% |<br />
=== Week 1: 1-5 Oct ===<br />
'''Biocircuits: 4 Oct (Thu), 10 am - 12 pm'''<br />
* Gita Mahmoudabadi (30 min)<br />
* Victoria (15 min)<br />
* Zach (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 4 Oct (Thu), 4-5:30 pm'''<br />
* Necmiye (15 min)<br />
* Research update (15 min)<br />
* Git tutorial by Scott (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* Richard out of town Tue-Wed<br />
* No group meeting this week<br />
<br />
| width=30% |<br />
<br />
=== Week 2: 8-12 Oct ===<br />
'''NCS: 10 Oct (Wed), 4:30-6:00 pm'''<br />
* <strike> Andrea </strike> Adam (<s>15</s> 45 min)<br />
* Marcella (<s>15</s> 45 min)<br />
* <strike> Mumu </strike> (15 min)<br />
* Project updates<br />
<br />
'''Biocircuits: 11 Oct (Thu), 10 am - 12 pm'''<br />
* Nadine (30 min)<br />
* Research update (15 min)<br />
* Anu (15 min)<br />
* Lab updates<br />
<br />
<hr><br />
* Richard out of town Mon, Tue am, Fri pm<br />
* Aaron Ames visiting on Thu (seminar @ noon)<br />
* No group meeting this week<br />
| width=30% |<br />
<br />
=== Week 3: 15-19 Oct ===<br />
* Richard out of town all week<br />
* Biocircuits lab cleanup: 16 Oct (Tue), 10 am - 12 pm<br />
<br />
|- valign=top<br />
| width=30% |<br />
=== Week 4: 22-26 Oct ===<br />
'''Biocircuits: 23 Oct (Tue), 10 am - 12 pm'''<br />
* Enoch (30 min)<br />
* Jongmin (15 min)<br />
* Vanessa (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 23 Oct (Tue), 4-5:30 pm'''<br />
* Eric (15 min)<br />
* Scott Livingston (15 min)<br />
* Mumu (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* Ram Vasuvian visiting on Mon (seminar @ 11)<br />
* DARPA Living Foundries west coast meeting on Thu (Richard out)<br />
* No group meeting this week<br />
<br />
| width=30% |<br />
<br />
=== Week 5: 29 Oct - 2 Nov ===<br />
'''NCS: 31 Oct (Wed), 4:30-6:00 pm'''<br />
* Shuo (15 min)<br />
* Research update (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
'''Biocircuits: 1 Nov (Thu), 10 am - 12 pm'''<br />
* Marcella (30 min)<br />
* Anandh (15 min)<br />
* dan (15 min)<br />
* Lab updates<br />
<br />
<hr><br />
* Richard out of town on Tue<br />
* iGEM World Jamboree, Fri-Mon<br />
* No group meeting this week<br />
| width=30% |<br />
<br />
=== Week 6: 5-9 Nov ===<br />
'''Biocircuits: 6 Nov (Tue), 10 am - 12 pm'''<br />
* Anu (30 min)<br />
* Emzo (15 min)<br />
* Nadine (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 7 Nov (Wed), 4:30-6:00 pm'''<br />
* Fei (15 min)<br />
* Necmiye (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* No group meeting this week<br />
<br />
|- valign=top<br />
| width=30% |<br />
<br />
=== Week 7: 12-16 Nov ===<br />
'''Biocircuits: 15 Nov (Thu), 10 am - 12 pm'''<br />
* Ophelia (30 min)<br />
* Zach (15 min)<br />
* Enoch (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 15 Nov (Thu), 4-5:30 pm'''<br />
* Marcella (15 min)<br />
* Mumu (15 min)<br />
* Open (15 min)<br />
* Quentin (15 min)<br />
<br />
<hr><br />
* No group meeting this week<br />
<br />
| width=30% |<br />
<br />
=== Week 8: 19-23 Nov ===<br />
* Richard out of town all week<br />
* Biocircuits lab cleanup: 20 Nov (Tue), 10 am - 12 pm<br />
* Thanksgiving break, Thu-Fri<br />
* No group meeting this week<br />
<br />
| width=30% |<br />
=== Week 9: 26-30 Nov ===<br />
'''Biocircuits: 27 Nov (Tue), 10 am - 12 pm'''<br />
* Vanessa (30 min)<br />
* Jongmin (15 min)<br />
* Victoria (15 min)<br />
* Ishan (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 28 Nov (Wed), 4:30-6:00 pm'''<br />
* Eric (15 min)<br />
* Scott Livingston (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* DARPA breadboards telecon, Thu @ 9:30 am<br />
* SoCal Control Workshop, Fri (UC San Diego)<br />
* No group meeting this week<br />
<br />
|- valign=top<br />
| width=30% |<br />
<br />
=== Week 10: 3-7 Dec ===<br />
'''Biocircuits: 4 Dec (Tue), 10 am - 12 pm'''<br />
* Emzo (30 min)<br />
* Marcella (15 min)<br />
* dan (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 5 Dec (Wed), 4:30-6:00 pm'''<br />
* Shuo (15 min)<br />
* Anandh (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* No group meeting this week<br />
<br />
| width=30% |<br />
<br />
=== Week 11: 10-14 Dec ===<br />
* CDC week, no group meetings<br />
* Biocircuits lab cleanup: 11 Dec (Tue), 10 am - 12 pm<br />
<br />
| width=30% |<br />
=== Week 12: 17-21 Dec ===<br />
* Winter break, no group meetings<br />
* Richard around Mon-Thu<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Group_Schedule,_Fall_2012Group Schedule, Fall 20122012-09-24T20:18:29Z<p>Stsuei: /* Week 7: 12-16 Nov */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [[Schedule|Richard's calendar (travel)]]<br />
| width=50% |<br />
* [[Group Schedule, Summer 2012]]<br />
|}<br />
<br />
The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:<br />
:{| width=100%<br />
|- valign=top<br />
| width=30% |<br />
* Group meetings - 114 Steele Lab<br />
| width=30% |<br />
* Biocircuits subgroup - 111 Keck<br />
| width=30% |<br />
* NCS subgroup - 110 Steele<br />
|}<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=30% |<br />
=== Week 1: 1-5 Oct ===<br />
'''Biocircuits: 4 Oct (Thu), 10 am - 12 pm'''<br />
* Gita Mahmoudabadi (30 min)<br />
* Research update (15 min)<br />
* Research update (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 4 Oct (Thu), 4-5:30 pm'''<br />
* Research update (15 min)<br />
* Research update (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* Richard out of town Tue-Wed<br />
* No group meeting this week<br />
<br />
| width=30% |<br />
<br />
=== Week 2: 8-12 Oct ===<br />
'''NCS: 10 Oct (Wed), 4:30-6:00 pm'''<br />
* Marcella (15 min)<br />
* Mumu (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
'''Biocircuits: 11 Oct (Thu), 10 am - 12 pm'''<br />
* Research presentation (30 min)<br />
* Vanessa (15 min)<br />
* Anu (15 min)<br />
* Lab updates<br />
<br />
<hr><br />
* Richard out of town Mon, Tue am, Fri pm<br />
* Aaron Ames visiting on Thu (seminar @ noon)<br />
* No group meeting this week<br />
| width=30% |<br />
<br />
=== Week 3: 15-19 Oct ===<br />
* Richard out of town all week<br />
* Biocircuits lab cleanup: 16 Oct (Tue), 10 am - 12 pm<br />
<br />
|- valign=top<br />
| width=30% |<br />
=== Week 4: 22-26 Oct ===<br />
'''Biocircuits: 23 Oct (Tue), 10 am - 12 pm'''<br />
* Enoch (30 min)<br />
* Research update (15 min)<br />
* Research update (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 23 Oct (Tue), 4-5:30 pm'''<br />
* Eric (15 min)<br />
* Scott Livingston (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* Ram Vasuvian visiting on Mon (seminar @ 11)<br />
* DARPA Living Foundries west coast meeting on Thu (Richard out)<br />
* No group meeting this week<br />
<br />
| width=30% |<br />
<br />
=== Week 5: 29 Oct - 2 Nov ===<br />
'''NCS: 31 Oct (Wed), 4:30-6:00 pm'''<br />
* Shuo (15 min)<br />
* Research update (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
'''Biocircuits: 1 Nov (Thu), 10 am - 12 pm'''<br />
* Marcella (30 min)<br />
* Research update (15 min)<br />
* Research update (15 min)<br />
* Lab updates<br />
<br />
<hr><br />
* Richard out of town on Tue<br />
* iGEM World Jamboree, Fri-Mon<br />
* No group meeting this week<br />
| width=30% |<br />
<br />
=== Week 6: 5-9 Nov ===<br />
'''Biocircuits: 6 Nov (Tue), 10 am - 12 pm'''<br />
* Anu (30 min)<br />
* Emzo (15 min)<br />
* Research update (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 7 Nov (Wed), 4:30-6:00 pm'''<br />
* Fei (15 min)<br />
* Research update (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* No group meeting this week<br />
<br />
|- valign=top<br />
| width=30% |<br />
<br />
=== Week 7: 12-16 Nov ===<br />
'''Biocircuits: 15 Nov (Thu), 10 am - 12 pm'''<br />
* Ophelia (30 min)<br />
* Research update (15 min)<br />
* Enoch (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 15 Nov (Thu), 4-5:30 pm'''<br />
* Marcella (15 min)<br />
* Mumu (15 min)<br />
* Stephanie (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* No group meeting this week<br />
<br />
| width=30% |<br />
<br />
=== Week 8: 19-23 Nov ===<br />
* Richard out of town all week<br />
* Biocircuits lab cleanup: 20 Nov (Tue), 10 am - 12 pm<br />
* Thanksgiving break, Thu-Fri<br />
* No group meeting this week<br />
<br />
| width=30% |<br />
=== Week 9: 26-30 Nov ===<br />
'''Biocircuits: 27 Nov (Tue), 10 am - 12 pm'''<br />
* Vanessa (30 min)<br />
* Research update (15 min)<br />
* Research update (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 28 Nov (Wed), 4:30-6:00 pm'''<br />
* Eric (15 min)<br />
* Scott Livingston (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* DARPA breadboards telecon, Thu @ 9:30 am<br />
* SoCal Control Workshop, Fri (UC San Diego)<br />
* No group meeting this week<br />
<br />
|- valign=top<br />
| width=30% |<br />
<br />
=== Week 10: 3-7 Dec ===<br />
'''Biocircuits: 4 Dec (Tue), 10 am - 12 pm'''<br />
* Emzo (30 min)<br />
* Marcella (15 min)<br />
* Research update (15 min)<br />
* Lab updates<br />
<br />
'''NCS: 5 Dec (Wed), 4:30-6:00 pm'''<br />
* Shuo (15 min)<br />
* Research update (15 min)<br />
* Research update (15 min)<br />
* Project updates<br />
<br />
<hr><br />
* No group meeting this week<br />
<br />
| width=30% |<br />
<br />
=== Week 11: 10-14 Dec ===<br />
* CDC week, no group meetings<br />
* Biocircuits lab cleanup: 11 Dec (Tue), 10 am - 12 pm<br />
<br />
| width=30% |<br />
=== Week 12: 17-21 Dec ===<br />
* Winter break, no group meetings<br />
* Richard around Mon-Thu<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=NCS_subgroup_plannerNCS subgroup planner2012-08-27T19:15:01Z<p>Stsuei: </p>
<hr />
<div>Mondays<br />
* CDS 101/110, 2-3 pm<br />
<br />
Tuesdays<br />
* ACM/EE 116, 9-10:30 am<br />
* CDS 201, 10:30 am - 12:00 pm<br />
* CDS 212, 2:30 - 4:00 pm<br />
<br />
Wednesdays<br />
* CDS 101/110, 2-3 pm<br />
* CDS tea, 3-4 pm<br />
<br />
Thursdays<br />
* ACM/EE 116, 9-10:30 am<br />
* CDS 201, 10:30 am - 12:00 pm<br />
* CDS 212, 2:30 - 4:00 pm<br />
<br />
Fridays</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Group_Schedule,_Summer_2012Group Schedule, Summer 20122012-06-07T22:48:56Z<p>Stsuei: /* Week 15: 24-28 September */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]<br />
| width=50% |<br />
* [[Group Schedule, Spring 2012]]<br />
|}<br />
<br />
The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings.<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=30% |<br />
<br />
=== Week 1: 18-22 June ===<br />
<br />
'''Biocircuits: 21 Jun (Thu), 10 am - 12 pm'''<br />
* SURF introductions (40 min)<br />
* Ophelia (20-30 min)<br />
* Shaunak K (10-15 min)<br />
* Lab updates<br />
<br />
'''Group meeting: 21 Jun (Thu), 12-1'''<br />
* Richard (research overview)<br />
<br />
'''NCS/Robotics: 21 Jun (Thu), 4-6 pm'''<br />
* SURF introductions (20 min)<br />
* Eric (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
<hr><br />
* Richard out of town Mon-Tue<br />
* SURF students start on Tue<br />
| width=30% |<br />
<br />
=== Week 2: 25-29 June ===<br />
* American Control Conference (Montreal)<br />
* Richard out of town all week<br />
| width=30% |<br />
<br />
=== Week 3: 2-6 July ===<br />
* Richard out of town all week<br />
* Institute holiday on Wed<br />
|- valign=top<br />
|<br />
<br />
=== Week 4: 9-13 July ===<br />
'''Biocircuits: 10 Jul (Tue), 10 am - 12 pm'''<br />
* <font color=blue>Meeting may shift to Mon, 10a-12p</font><br />
* Victoria (25-30 min)<br />
* Anu (10-15 min)<br />
* Research update (10-15 min)<br />
* Instrument: Microscope/CellASIC<br />
* Lab updates<br />
<br />
'''Group meeting: 13 Jul (Fri), 12-1:15'''<br />
* Tim Sullivan?<br />
<br />
'''NCS/Robotics: 13 Jul (Fri), 1:15-3 pm'''<br />
* Stephanie (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
<hr><br />
* Richard out of town Tue pm - Thu (Living Foundries PI meeting)<br />
|<br />
<br />
=== Week 5: 16-20 July ===<br />
'''Biocircuits: 17 Jul (Tue), 10 am - 12 pm'''<br />
* Anu (30-40 min)<br />
* Zach (10-15 min)<br />
* SURF: Vinay V (10-15 min)<br />
* SURF update (10-15 min)<br />
* Instrument: Computing<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 18 Jul (Wed), 4-6 pm'''<br />
* Mumu (15-20 min)<br />
* Research update (15-20 min)<br />
* SURF update (10-15 min)<br />
* SURF update (10-15 min)<br />
* Project updates<br />
<br />
'''Group meeting: 19 Jul (Thu), 12-1:15'''<br />
* Chin-Lin Guo (BE)<br />
<hr><br />
* Shaunak K SURF presentation<br />
|<br />
<br />
=== Week 6: 23-27 July ===<br />
'''Biocircuits: 24 Jul (Tue), 10 am - 12 pm'''<br />
* Emzo (30-40 min)<br />
* Enoch (10-15 min)<br />
* SURF update (10-15 min)<br />
* SURF update (10-15 min)<br />
* Instrument: FACSCalibur/Quanta<br />
* Lab updates<br />
<br />
'''Group meeting: 25 Jul (Wed), 12-1:15'''<br />
* Open<br />
<br />
'''NCS/Robotics: 25 Jul (Wed), 4-6 pm'''<br />
* Pavithra (15-20 min)<br />
* Research update (10-15 min)<br />
* SURF update (10-15 min)<br />
* SURF update (10-15 min)<br />
* Project updates<br />
<hr><br />
* Richard out of town Thu-Fri<br />
|- valign=top<br />
|<br />
<br />
=== Week 7: 30 July - 3 August ===<br />
'''Biocircuits: 31 Jul (Tue), 12-1:30 pm'''<br />
* <font color=blue>Lunch meeting; may shift to Thu</font><br />
* Research presentation (30-40 min)<br />
* SURF update (10-15 min)<br />
* SURF update (10-15 min)<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 1 Aug (Wed), 12-1:30 pm'''<br />
* <font color=blue>Lunch meeting; may shift to Thu</font><br />
* Eric (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
<hr><br />
* KISS workshop; Richard unavailable<br />
|<br />
<br />
=== Week 8: 6-10 August ===<br />
'''Biocircuits: 7 Aug (Tue), 10 am - 12 pm'''<br />
* Research presentation (30-40 min)<br />
* Victoria (10-15 min)<br />
* Marcella (10-15 min)<br />
* Instrument: Victor X3/BioTek H1MF<br />
* Lab updates<br />
<br />
'''Group meeting: 8 Aug (Wed), 12-1:15'''<br />
* Open<br />
<br />
'''NCS/Robotics: 8 Aug (Wed), 4-6 pm'''<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
|<br />
<br />
=== Week 9: 13-17 August ===<br />
* Richard out all week<br />
|- valign=top<br />
|<br />
<br />
=== Week 10: 20-24 August ===<br />
'''Biocircuits: 22 Aug (Wed), 10 am - 12 pm'''<br />
* Research presentation [non-MPP] (30-40 min)<br />
* Enoch [non-MPP] (10-15 min)<br />
* Research update [non-MPP] (10-15 min)<br />
* Instrument: freezers/cold room<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 22 Aug (Wed), 4-6 pm'''<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
'''Group meeting: 23 Aug (Thu), 12-1:15'''<br />
* Lea Goentoro (Bi)<br />
<hr><br />
* MPP retreat, Sun-Tue<br />
|<br />
<br />
=== Week 11: 27-31 August ===<br />
'''Biocircuits: 28 Aug (Tue), 10 am - 12 pm'''<br />
* Research presentation (30-40 min)<br />
* Research update (10-15 min)<br />
* Research update (10-15 min)<br />
* Instruments: Nanodrop/electroporator<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 29 Aug (Wed), 4-6 pm'''<br />
* Mumu (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
'''Group meeting: 30 Aug (Thu), 12-1:15'''<br />
* Open<br />
<hr><br />
* Richard out of town on Fri<br />
|<br />
<br />
=== Week 12: 3-7 September ===<br />
'''Biocircuits: 4 Sep (Tue), 10 am - 12 pm'''<br />
* Marcella (30-40 min)<br />
* Research update (10-15 min)<br />
* Research update (10-15 min)<br />
* Instrument: gel rigs/gel imager<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 5 Sep (Wed), 4-6 pm'''<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
'''Group meeting: 6 Sep (Thu), 12-1:15'''<br />
* Open<br />
<hr><br />
* Institute holiday on Mon<br />
|- valign=top<br />
|<br />
<br />
=== Week 13: 10-14 September ===<br />
'''Biocircuits: 11 Sep (Tue), 10 am - 12 pm'''<br />
* Zach (30-40 min)<br />
* Research update (10-15 min)<br />
* Research update (10-15 min)<br />
* Instrument: PCR machines/centrifuges<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 12 Sep (Wed), 4-6 pm'''<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
'''Group meeting: 13 Sep (Thu), 12-1:15'''<br />
* Open<br />
<hr><br />
* Richard out on Fri<br />
|<br />
<br />
=== Week 14: 17-21 September ===<br />
* Richard out all week<br />
|<br />
=== Week 15: 24-28 September ===<br />
'''Biocircuits: 25 Sep (Tue), 10 am - 12 pm'''<br />
* Enoch (30-40 min)<br />
* Emzo (10-15 min)<br />
* Research update (10-15 min)<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 26 Sep (Wed), 4-6 pm'''<br />
* Stephanie (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
'''Group meeting: 26 Sep (Thu), 12-1:15'''<br />
* Open<br />
<hr><br />
* Richard out on Mon<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Group_Schedule,_Summer_2012Group Schedule, Summer 20122012-06-07T22:48:33Z<p>Stsuei: /* Week 4: 9-13 July */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]<br />
| width=50% |<br />
* [[Group Schedule, Spring 2012]]<br />
|}<br />
<br />
The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings.<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=30% |<br />
<br />
=== Week 1: 18-22 June ===<br />
<br />
'''Biocircuits: 21 Jun (Thu), 10 am - 12 pm'''<br />
* SURF introductions (40 min)<br />
* Ophelia (20-30 min)<br />
* Shaunak K (10-15 min)<br />
* Lab updates<br />
<br />
'''Group meeting: 21 Jun (Thu), 12-1'''<br />
* Richard (research overview)<br />
<br />
'''NCS/Robotics: 21 Jun (Thu), 4-6 pm'''<br />
* SURF introductions (20 min)<br />
* Eric (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
<hr><br />
* Richard out of town Mon-Tue<br />
* SURF students start on Tue<br />
| width=30% |<br />
<br />
=== Week 2: 25-29 June ===<br />
* American Control Conference (Montreal)<br />
* Richard out of town all week<br />
| width=30% |<br />
<br />
=== Week 3: 2-6 July ===<br />
* Richard out of town all week<br />
* Institute holiday on Wed<br />
|- valign=top<br />
|<br />
<br />
=== Week 4: 9-13 July ===<br />
'''Biocircuits: 10 Jul (Tue), 10 am - 12 pm'''<br />
* <font color=blue>Meeting may shift to Mon, 10a-12p</font><br />
* Victoria (25-30 min)<br />
* Anu (10-15 min)<br />
* Research update (10-15 min)<br />
* Instrument: Microscope/CellASIC<br />
* Lab updates<br />
<br />
'''Group meeting: 13 Jul (Fri), 12-1:15'''<br />
* Tim Sullivan?<br />
<br />
'''NCS/Robotics: 13 Jul (Fri), 1:15-3 pm'''<br />
* Stephanie (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
<hr><br />
* Richard out of town Tue pm - Thu (Living Foundries PI meeting)<br />
|<br />
<br />
=== Week 5: 16-20 July ===<br />
'''Biocircuits: 17 Jul (Tue), 10 am - 12 pm'''<br />
* Anu (30-40 min)<br />
* Zach (10-15 min)<br />
* SURF: Vinay V (10-15 min)<br />
* SURF update (10-15 min)<br />
* Instrument: Computing<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 18 Jul (Wed), 4-6 pm'''<br />
* Mumu (15-20 min)<br />
* Research update (15-20 min)<br />
* SURF update (10-15 min)<br />
* SURF update (10-15 min)<br />
* Project updates<br />
<br />
'''Group meeting: 19 Jul (Thu), 12-1:15'''<br />
* Chin-Lin Guo (BE)<br />
<hr><br />
* Shaunak K SURF presentation<br />
|<br />
<br />
=== Week 6: 23-27 July ===<br />
'''Biocircuits: 24 Jul (Tue), 10 am - 12 pm'''<br />
* Emzo (30-40 min)<br />
* Enoch (10-15 min)<br />
* SURF update (10-15 min)<br />
* SURF update (10-15 min)<br />
* Instrument: FACSCalibur/Quanta<br />
* Lab updates<br />
<br />
'''Group meeting: 25 Jul (Wed), 12-1:15'''<br />
* Open<br />
<br />
'''NCS/Robotics: 25 Jul (Wed), 4-6 pm'''<br />
* Pavithra (15-20 min)<br />
* Research update (10-15 min)<br />
* SURF update (10-15 min)<br />
* SURF update (10-15 min)<br />
* Project updates<br />
<hr><br />
* Richard out of town Thu-Fri<br />
|- valign=top<br />
|<br />
<br />
=== Week 7: 30 July - 3 August ===<br />
'''Biocircuits: 31 Jul (Tue), 12-1:30 pm'''<br />
* <font color=blue>Lunch meeting; may shift to Thu</font><br />
* Research presentation (30-40 min)<br />
* SURF update (10-15 min)<br />
* SURF update (10-15 min)<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 1 Aug (Wed), 12-1:30 pm'''<br />
* <font color=blue>Lunch meeting; may shift to Thu</font><br />
* Eric (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
<hr><br />
* KISS workshop; Richard unavailable<br />
|<br />
<br />
=== Week 8: 6-10 August ===<br />
'''Biocircuits: 7 Aug (Tue), 10 am - 12 pm'''<br />
* Research presentation (30-40 min)<br />
* Victoria (10-15 min)<br />
* Marcella (10-15 min)<br />
* Instrument: Victor X3/BioTek H1MF<br />
* Lab updates<br />
<br />
'''Group meeting: 8 Aug (Wed), 12-1:15'''<br />
* Open<br />
<br />
'''NCS/Robotics: 8 Aug (Wed), 4-6 pm'''<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
|<br />
<br />
=== Week 9: 13-17 August ===<br />
* Richard out all week<br />
|- valign=top<br />
|<br />
<br />
=== Week 10: 20-24 August ===<br />
'''Biocircuits: 22 Aug (Wed), 10 am - 12 pm'''<br />
* Research presentation [non-MPP] (30-40 min)<br />
* Enoch [non-MPP] (10-15 min)<br />
* Research update [non-MPP] (10-15 min)<br />
* Instrument: freezers/cold room<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 22 Aug (Wed), 4-6 pm'''<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
'''Group meeting: 23 Aug (Thu), 12-1:15'''<br />
* Lea Goentoro (Bi)<br />
<hr><br />
* MPP retreat, Sun-Tue<br />
|<br />
<br />
=== Week 11: 27-31 August ===<br />
'''Biocircuits: 28 Aug (Tue), 10 am - 12 pm'''<br />
* Research presentation (30-40 min)<br />
* Research update (10-15 min)<br />
* Research update (10-15 min)<br />
* Instruments: Nanodrop/electroporator<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 29 Aug (Wed), 4-6 pm'''<br />
* Mumu (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
'''Group meeting: 30 Aug (Thu), 12-1:15'''<br />
* Open<br />
<hr><br />
* Richard out of town on Fri<br />
|<br />
<br />
=== Week 12: 3-7 September ===<br />
'''Biocircuits: 4 Sep (Tue), 10 am - 12 pm'''<br />
* Marcella (30-40 min)<br />
* Research update (10-15 min)<br />
* Research update (10-15 min)<br />
* Instrument: gel rigs/gel imager<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 5 Sep (Wed), 4-6 pm'''<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
'''Group meeting: 6 Sep (Thu), 12-1:15'''<br />
* Open<br />
<hr><br />
* Institute holiday on Mon<br />
|- valign=top<br />
|<br />
<br />
=== Week 13: 10-14 September ===<br />
'''Biocircuits: 11 Sep (Tue), 10 am - 12 pm'''<br />
* Zach (30-40 min)<br />
* Research update (10-15 min)<br />
* Research update (10-15 min)<br />
* Instrument: PCR machines/centrifuges<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 12 Sep (Wed), 4-6 pm'''<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
'''Group meeting: 13 Sep (Thu), 12-1:15'''<br />
* Open<br />
<hr><br />
* Richard out on Fri<br />
|<br />
<br />
=== Week 14: 17-21 September ===<br />
* Richard out all week<br />
|<br />
=== Week 15: 24-28 September ===<br />
'''Biocircuits: 25 Sep (Tue), 10 am - 12 pm'''<br />
* Enoch (30-40 min)<br />
* Emzo (10-15 min)<br />
* Research update (10-15 min)<br />
* Lab updates<br />
<br />
'''NCS/Robotics: 26 Sep (Wed), 4-6 pm'''<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<br />
'''Group meeting: 26 Sep (Thu), 12-1:15'''<br />
* Open<br />
<hr><br />
* Richard out on Mon<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Prabir_Barooah,_May_2012Prabir Barooah, May 20122012-05-10T02:12:26Z<p>Stsuei: /* Agenda */</p>
<hr />
<div>Prabir Barooah will be visiting Caltech on 10 May (Thu).<br />
<br />
=== Agenda ===<br />
<br />
* 10:30: Richard Murray, 109 Steele Lab<br />
* 11:00: Seminar, Steele Lab library<br />
* 12:00: Lunch with faculty: Richard, Doug MacMynowski, Joel Burdick<br />
* 1:15: Necmiye Ozay, 130 Steele Lab<br />
* 2:00: Steven Low, 219 Annenberg<br />
* 2:45: Scott Livingston, 331 Annenberg<br />
* 3:30: Stephanie Tsuei<br />
* 4:15: Open<br />
* 5:00: Done for the day<br />
<br />
=== Abstract ===<br />
<center><br />
'''Improving robot localization by using robot-to-robot relative measurements in cooperative multi-robot teams'''<br />
<br />
Thursday, 10 May 2012 - 11:00am, 114 Steele Lab<br />
</center><br />
<br />
Localization of robots without GPS (or intermittentGPS) is a capability that is required of autonomous robots in several application domains. These include under water, in urban canyons, with poor line of sight to satellites, with adversarial GPS jamming, etc.<br />
Localization by integrating self-motion measurements from on-board sensors such as IMUs/cameras lead to large growth of estimation error. This limits how long a robot can operate effectively without GPS. In a team of collaborative robots, however, there is an opportunity to do better. A robot can occasionally measure another robot's relative pose/position/bearing, usually by using vision-based sensors. This information, when fused with self-motion measurements, can lead to location estimates that are substantially more accurate than what can be obtained with self-motion measurements alone.<br />
<br />
In this talk we will describe a class of algorithms for fusing relative measurements to estimate the pose (position and orientation)<br />
of robots in a collaborative team. Due to the unknown orientations that are to be estimated, the problem becomes an optimization problem over a Riemannian manifold. A least-squares and (approximate) maximum likelihood estimator are developed. The least-squares version can be made distributed: it requires limited communication between nearby robots, but no centralized data exchange is needed. In each case, a gradient descent on the manifold is used to compute the estimates. Much of the earlier work in collaborative pose estimation was limited to 2-D case, the formulation we adopt allows to handle 3-D scenario with no additional difficulty. As is often the case, a number of unanswered questions remain, some of which will be discussed.<br />
<br />
=== Brief Bio ===<br />
<br />
Prabir Barooah was born in Jorhat, Assam (India). He received the Ph.D. degree in Electrical and Computer Engineering in 2007 from the University of California, Santa Barbara. From 1999 to 2002 he was a research engineer at United Technologies Research Center, East Hartford, CT. He received the M. S. degree in Mechanical Engineering from the University of Delaware in 1999 and the B.Tech degree in Mechanical Engineering from the Indian Institute of Technology, Kanpur, in 1996. Dr. Barooah is the winner of the NSF CAREER award (2010), General Chairs' Recognition Award for Interactive papers at the 48th IEEE Conference on Decision and Control (2009), best paper award at the 2nd Int. Conf. on Intelligent Sensing and Information Processing (2005), and NASA group achievement award (2003).</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-16T07:18:15Z<p>Stsuei: /* Homework Guidelines */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://scottman.net/ Scott Livingston], Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<br />
== Course Information ==<br />
<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Email the writeup as a single file to the TAs. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|3 Apr (Tu)<br />
|Overview, Kinematic and Dynamic Models ([http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec00.pdf part 1], [http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec01.pdf part 2])<br />
|Tom Howard<br />
|-<br />
|5 Apr (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec02_sim.pdf Motion Simulation]<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Apr (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec03.pdf Search Spaces I]<br />
|Tom Howard<br />
|-<br />
|12 Apr (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec04.pdf Search Spaces II]<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Apr (Tu)<br />
|Search Algorithms I<br />
|Yoshi Kuwata<br />
|-<br />
|19 Apr (Th)<br />
|Search Algorithms II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Apr (Tu)<br />
|Sensor-Based Planning I<br />
|Yoshi Kuwata<br />
|-<br />
|26 Apr (Th)<br />
|Sensor-Based Planning II<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|1 May (Tu) <br />
|Week-long lab<br />
|<br />
|-<br />
|3 May (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|8 May (Tu)<br />
|Term Project Overview and Kickoff<br />
|<br />
|-<br />
|10 May (Th)<br />
|Case Studies<br />
|TBD<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|15 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|17 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|22 May (Tu)<br />
|Term Project Progress Presentations<br />
|<br />
|-<br />
|24 May (Th)<br />
|Term Project Progress Presentations (cont.)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|29 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|31 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|5 June (Tu)<br />
|Term Project Final Presentations<br />
|<br />
|-<br />
|7 June (Th)<br />
|Term Project Final Presentations (cont.)<br />
|<br />
|}<br />
<br />
== Homework ==<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/homework1.pdf Homework 1] (Due 12 April)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/hw2.zip Homework 2] (Due 19 April)<br />
* Homework 3 (Due 26 April)<br />
* Homework 4 (Due 3 May)<br />
* Navigation Lab <br />
* Project</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-14T03:58:08Z<p>Stsuei: /* Lecture Notes */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://scottman.net/ Scott Livingston], Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<br />
== Course Information ==<br />
<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|3 Apr (Tu)<br />
|Overview, Kinematic and Dynamic Models ([http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec00.pdf part 1], [http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec01.pdf part 2])<br />
|Tom Howard<br />
|-<br />
|5 Apr (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec02_sim.pdf Motion Simulation]<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Apr (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec03.pdf Search Spaces I]<br />
|Tom Howard<br />
|-<br />
|12 Apr (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec04.pdf Search Spaces II]<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Apr (Tu)<br />
|Search Algorithms I<br />
|Yoshi Kuwata<br />
|-<br />
|19 Apr (Th)<br />
|Search Algorithms II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Apr (Tu)<br />
|Sensor-Based Planning I<br />
|Yoshi Kuwata<br />
|-<br />
|26 Apr (Th)<br />
|Sensor-Based Planning II<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|1 May (Tu) <br />
|Week-long lab<br />
|<br />
|-<br />
|3 May (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|8 May (Tu)<br />
|Term Project Overview and Kickoff<br />
|<br />
|-<br />
|10 May (Th)<br />
|Case Studies<br />
|TBD<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|15 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|17 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|22 May (Tu)<br />
|Term Project Progress Presentations<br />
|<br />
|-<br />
|24 May (Th)<br />
|Term Project Progress Presentations (cont.)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|29 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|31 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|5 June (Tu)<br />
|Term Project Final Presentations<br />
|<br />
|-<br />
|7 June (Th)<br />
|Term Project Final Presentations (cont.)<br />
|<br />
|}<br />
<br />
== Homework ==<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/homework1.pdf Homework 1] (Due 12 April)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/hw2.zip Homework 2] (Due 19 April)<br />
* Homework 3 (Due 26 April)<br />
* Homework 4 (Due 3 May)<br />
* Navigation Lab <br />
* Project</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-13T07:07:44Z<p>Stsuei: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://scottman.net/ Scott Livingston], Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<br />
== Course Information ==<br />
<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|3 Apr (Tu)<br />
|Overview, Kinematic and Dynamic Models ([http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec00.pdf part 1], [http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec01.pdf part 2])<br />
|Tom Howard<br />
|-<br />
|5 Apr (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec02_sim.pdf Motion Simulation]<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Apr (Tu)<br />
|Search Spaces I<br />
|Tom Howard<br />
|-<br />
|12 Apr (Th)<br />
|Search Spaces II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Apr (Tu)<br />
|Search Algorithms I<br />
|Yoshi Kuwata<br />
|-<br />
|19 Apr (Th)<br />
|Search Algorithms II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Apr (Tu)<br />
|Sensor-Based Planning I<br />
|Yoshi Kuwata<br />
|-<br />
|26 Apr (Th)<br />
|Sensor-Based Planning II<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|1 May (Tu) <br />
|Week-long lab<br />
|<br />
|-<br />
|3 May (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|8 May (Tu)<br />
|Term Project Overview and Kickoff<br />
|<br />
|-<br />
|10 May (Th)<br />
|Case Studies<br />
|TBD<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|15 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|17 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|22 May (Tu)<br />
|Term Project Progress Presentations<br />
|<br />
|-<br />
|24 May (Th)<br />
|Term Project Progress Presentations (cont.)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|29 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|31 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|5 June (Tu)<br />
|Term Project Final Presentations<br />
|<br />
|-<br />
|7 June (Th)<br />
|Term Project Final Presentations (cont.)<br />
|<br />
|}<br />
<br />
== Homework ==<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/homework1.pdf Homework 1] (Due 12 April)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/hw2.zip Homework 2] (Due 19 April)<br />
* Homework 3 (Due 26 April)<br />
* Homework 4 (Due 3 May)<br />
* Navigation Lab <br />
* Project</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-13T02:48:30Z<p>Stsuei: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://scottman.net/ Scott Livingston], Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<br />
== Course Information ==<br />
<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|3 Apr (Tu)<br />
|Overview, Kinematic and Dynamic Models ([http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec00.pdf part 1], [http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec01.pdf part 2])<br />
|Tom Howard<br />
|-<br />
|5 Apr (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec02_sim.pdf Motion Simulation]<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Apr (Tu)<br />
|Search Spaces I<br />
|Tom Howard<br />
|-<br />
|12 Apr (Th)<br />
|Search Spaces II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Apr (Tu)<br />
|Search Algorithms I<br />
|Yoshi Kuwata<br />
|-<br />
|19 Apr (Th)<br />
|Search Algorithms II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Apr (Tu)<br />
|Sensor-Based Planning I<br />
|Yoshi Kuwata<br />
|-<br />
|26 Apr (Th)<br />
|Sensor-Based Planning II<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|1 May (Tu) <br />
|Week-long lab<br />
|<br />
|-<br />
|3 May (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|8 May (Tu)<br />
|Term Project Overview and Kickoff<br />
|<br />
|-<br />
|10 May (Th)<br />
|Case Studies<br />
|TBD<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|15 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|17 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|22 May (Tu)<br />
|Term Project Progress Presentations<br />
|<br />
|-<br />
|24 May (Th)<br />
|Term Project Progress Presentations (cont.)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|29 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|31 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|5 June (Tu)<br />
|Term Project Final Presentations<br />
|<br />
|-<br />
|7 June (Th)<br />
|Term Project Final Presentations (cont.)<br />
|<br />
|}<br />
<br />
== Homework ==<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/homework1.pdf Homework 1] (Due 12 April)<br />
* Homework 2 (Due 19 April)<br />
* Homework 3 (Due 26 April)<br />
* Homework 4 (Due 3 May)<br />
* Navigation Lab <br />
* Project</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-12T20:07:21Z<p>Stsuei: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://scottman.net/ Scott Livingston], Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<br />
== Course Information ==<br />
<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|3 Apr (Tu)<br />
|Overview, Kinematic and Dynamic Models ([http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec00.pdf part 1], [http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec01.pdf part 2])<br />
|Tom Howard<br />
|-<br />
|5 Apr (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec02_sim.pdf Motion Simulation]<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Apr (Tu)<br />
|Search Spaces I<br />
|Tom Howard<br />
|-<br />
|12 Apr (Th)<br />
|Search Spaces II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Apr (Tu)<br />
|Search Algorithms I<br />
|Yoshi Kuwata<br />
|-<br />
|19 Apr (Th)<br />
|Search Algorithms II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Apr (Tu)<br />
|Sensor-Based Planning I<br />
|Yoshi Kuwata<br />
|-<br />
|26 Apr (Th)<br />
|Sensor-Based Planning II<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|1 May (Tu) <br />
|Week-long lab<br />
|<br />
|-<br />
|3 May (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|8 May (Tu)<br />
|Term Project Overview and Kickoff<br />
|<br />
|-<br />
|10 May (Th)<br />
|Case Studies<br />
|TBD<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|15 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|17 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|22 May (Tu)<br />
|Term Project Progress Presentations<br />
|<br />
|-<br />
|24 May (Th)<br />
|Term Project Progress Presentations (cont.)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|29 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|31 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|5 June (Tu)<br />
|Term Project Final Presentations<br />
|<br />
|-<br />
|7 June (Th)<br />
|Term Project Final Presentations (cont.)<br />
|<br />
|}<br />
<br />
== Homework ==<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/homework1.pdf Homework 1] (Due 12 April)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/hw2.zip Homework 2] (Due 19 April)<br />
* Homework 3 (Due 26 April)<br />
* Homework 4 (Due 3 May)<br />
* Navigation Lab <br />
* Project</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-11T22:06:36Z<p>Stsuei: /* Lecture Notes */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://scottman.net/ Scott Livingston], Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<br />
== Course Information ==<br />
<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|3 Apr (Tu)<br />
|Overview, Kinematic and Dynamic Models ([http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec00.pdf part 1], [http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec01.pdf part 2])<br />
|Tom Howard<br />
|-<br />
|5 Apr (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec02_sim.pdf Motion Simulation]<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Apr (Tu)<br />
|Search Spaces I<br />
|Tom Howard<br />
|-<br />
|12 Apr (Th)<br />
|Search Spaces II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Apr (Tu)<br />
|Search Algorithms I<br />
|Yoshi Kuwata<br />
|-<br />
|19 Apr (Th)<br />
|Search Algorithms II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Apr (Tu)<br />
|Sensor-Based Planning I<br />
|Yoshi Kuwata<br />
|-<br />
|26 Apr (Th)<br />
|Sensor-Based Planning II<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|1 May (Tu) <br />
|Week-long lab<br />
|<br />
|-<br />
|3 May (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|8 May (Tu)<br />
|Term Project Overview and Kickoff<br />
|<br />
|-<br />
|10 May (Th)<br />
|Case Studies<br />
|TBD<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|15 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|17 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|22 May (Tu)<br />
|Term Project Progress Presentations<br />
|<br />
|-<br />
|24 May (Th)<br />
|Term Project Progress Presentations (cont.)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|29 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|31 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|5 June (Tu)<br />
|Term Project Final Presentations<br />
|<br />
|-<br />
|7 June (Th)<br />
|Term Project Final Presentations (cont.)<br />
|<br />
|}<br />
<br />
== Homework ==<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/homework1.pdf Homework 1] (Due 12 April)<br />
* Homework 2 (Due 19 April)<br />
* Homework 3 (Due 26 April)<br />
* Homework 4 (Due 3 May)<br />
* Navigation Lab <br />
* Project</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-06T21:48:04Z<p>Stsuei: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://scottman.net/ Scott Livingston], Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<br />
== Course Information ==<br />
<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|3 Apr (Tu)<br />
|Overview, Kinematic and Dynamic Models<br />
|Tom Howard<br />
|-<br />
|5 Apr (Th)<br />
|Motion Simulation<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Apr (Tu)<br />
|Search Spaces I<br />
|Tom Howard<br />
|-<br />
|12 Apr (Th)<br />
|Search Spaces II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Apr (Tu)<br />
|Search Algorithms I<br />
|Yoshi Kuwata<br />
|-<br />
|19 Apr (Th)<br />
|Search Algorithms II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Apr (Tu)<br />
|Sensor-Based Planning I<br />
|Yoshi Kuwata<br />
|-<br />
|26 Apr (Th)<br />
|Sensor-Based Planning II<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|1 May (Tu) <br />
|Week-long lab<br />
|<br />
|-<br />
|3 May (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|8 May (Tu)<br />
|Term Project Overview and Kickoff<br />
|<br />
|-<br />
|10 May (Th)<br />
|Case Studies<br />
|TBD<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|15 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|17 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|22 May (Tu)<br />
|Term Project Progress Presentations<br />
|<br />
|-<br />
|24 May (Th)<br />
|Term Project Progress Presentations (cont.)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|29 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|31 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|5 June (Tu)<br />
|Term Project Final Presentations<br />
|<br />
|-<br />
|7 June (Th)<br />
|Term Project Final Presentations (cont.)<br />
|<br />
|}<br />
<br />
== Homework ==<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/homework1.pdf Homework 1] (Due 12 April)<br />
* Homework 2 (Due 19 April)<br />
* Homework 3 (Due 26 April)<br />
* Homework 4 (Due 3 May)<br />
* Navigation Lab <br />
* Project</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-04T00:44:32Z<p>Stsuei: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston, Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<br />
== Course Information ==<br />
<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|3 Apr (Tu)<br />
|Overview, Kinematic and Dynamic Models<br />
|Tom Howard<br />
|-<br />
|5 Apr (Th)<br />
|Motion Simulation<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Apr (Tu)<br />
|Search Spaces I<br />
|Tom Howard<br />
|-<br />
|12 Apr (Th)<br />
|Search Spaces II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Apr (Tu)<br />
|Search Algorithms I<br />
|Yoshi Kuwata<br />
|-<br />
|19 Apr (Th)<br />
|Search Algorithms II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Apr (Tu)<br />
|Sensor-Based Planning I<br />
|Yoshi Kuwata<br />
|-<br />
|26 Apr (Th)<br />
|Sensor-Based Planning II<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|1 May (Tu) <br />
|Week-long lab<br />
|<br />
|-<br />
|3 May (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|8 May (Tu)<br />
|Term Project Overview and Kickoff<br />
|<br />
|-<br />
|10 May (Th)<br />
|Case Studies<br />
|TBD<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|15 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|17 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|22 May (Tu)<br />
|Term Project Progress Presentations<br />
|<br />
|-<br />
|24 May (Th)<br />
|Term Project Progress Presentations (cont.)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|29 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|31 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|5 June (Tu)<br />
|Term Project Final Presentations<br />
|<br />
|-<br />
|7 June (Th)<br />
|Term Project Final Presentations (cont.)<br />
|<br />
|}<br />
<br />
== Homework ==<br />
* Homework 1 (Due 12 April)<br />
* Homework 2 (Due 19 April)<br />
* Homework 3 (Due 26 April)<br />
* Homework 4 (Due 3 May)<br />
* Navigation Lab <br />
* Project</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-04T00:42:58Z<p>Stsuei: /* Lecture Notes */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston, Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<br />
== Course Information ==<br />
<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|3 Apr (Tu)<br />
|Overview, Kinematic and Dynamic Models<br />
|Tom Howard<br />
|-<br />
|5 Apr (Th)<br />
|Motion Simulation<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Apr (Tu)<br />
|Search Spaces I<br />
|Tom Howard<br />
|-<br />
|12 Apr (Th)<br />
|Search Spaces II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Apr (Tu)<br />
|Search Algorithms I<br />
|Yoshi Kuwata<br />
|-<br />
|19 Apr (Th)<br />
|Search Algorithms II<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Apr (Tu)<br />
|Sensor-Based Planning I<br />
|Yoshi Kuwata<br />
|-<br />
|26 Apr (Th)<br />
|Sensor-Based Planning II<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|1 May (Tu) <br />
|Week-long lab<br />
|<br />
|-<br />
|3 May (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|8 May (Tu)<br />
|Term Project Overview and Kickoff<br />
|<br />
|-<br />
|10 May (Th)<br />
|Case Studies<br />
|TBD<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|15 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|17 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|22 May (Tu)<br />
|Term Project Progress Presentations<br />
|<br />
|-<br />
|24 May (Th)<br />
|Term Project Progress Presentations (cont.)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|29 May (Tu)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|31 May (Th)<br />
|Term Project Mentor Meetings<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|5 June (Tu)<br />
|Term Project Final Presentations<br />
|<br />
|-<br />
|7 June (Th)<br />
|Term Project Final Presentations (cont.)<br />
|<br />
|}<br />
<br />
== Homework ==</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-04T00:35:49Z<p>Stsuei: /* Course Information */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston, Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<br />
== Course Information ==<br />
<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
<br />
== Homework ==</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-03T20:28:15Z<p>Stsuei: /* Course Information */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston, Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<br />
== Course Information ==<br />
<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
<br />
== Homework ==</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-03T20:27:26Z<p>Stsuei: </p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston, Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<br />
== Course Information ==<br />
<br />
== Lecture Notes ==<br />
<br />
== Homework ==</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132b,_Spring_2012ME/CS 132b, Spring 20122012-04-03T20:10:53Z<p>Stsuei: Created page with '{| width=100% |- | colspan=2 align=center | <font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font> |- valign=top |} <table width=100%> <tr valign=top> <td w…'</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM <br />
* Office hours: by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston, Stephanie Tsuei<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table></div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Group_Schedule,_Spring_2012Group Schedule, Spring 20122012-03-26T22:50:40Z<p>Stsuei: /* Week 9: 28 May - 1 Jun */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]<br />
| width=50% |<br />
* [[Group Schedule, Winter 2012]]<br />
|}<br />
<br />
The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings.<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=30% |<br />
<br />
=== Week 1: 2-6 Apr ===<br />
'''NCS/Robotics: 2 Apr (Mon), 4-6 pm'''<br />
* Clemens (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 3 Apr (Tue), 12-1:15'''<br />
* Open<br />
'''Biocircuits: 3 Apr (Tue), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Jongmin (10-15 min)<br />
* Zach (10-15 min)<br />
* Lab updates<br />
<hr><br />
* Richard out of town Thu-Fri<br />
| width=30% |<br />
<br />
=== Week 2: 9-13 Apr ===<br />
* Richard out of town all week<br />
| width=30% |<br />
<br />
=== Week 3: 16-20 Apr ===<br />
'''NCS/Robotics: 16 Apr (Mon), 1-3 pm'''<br />
* Eric (15-20 min)<br />
* Ufuk (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 19 Apr (Thu), 12-1:15'''<br />
* Mumu<br />
'''Biocircuits: 19 Apr (Thu), 3-5 pm'''<br />
* Anu (10-15 min)<br />
* Shaunak (10-15 min)<br />
* Victoria (10-15 min)<br />
* Lab updates<br />
<hr><br />
* Richard out of town Tue-Wed<br />
|- valign=top<br />
|<br />
<br />
=== Week 4: 23-27 Apr ===<br />
* Richard out of town Mon-Thu<br />
* Pete Trautman thesis defense (Fri)<br />
|<br />
<br />
=== Week 5: 30 Apr - 4 May ===<br />
'''Biocircuits: 1 May (Tue), 3-5 pm'''<br />
* Paul (30-40 min)<br />
* Dan (10-15 min)<br />
* Nikki(10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 2 May (Wed), 4-6 pm'''<br />
* Shuo (15-20 min)<br />
* Stephanie (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 3 May (Thu), 12-1:15'''<br />
* Marcella <br />
|<br />
<br />
=== Week 6: 7 May - 11 May ===<br />
'''Group meeting: 8 Mar (Tue), 12-1:15'''<br />
* Vanessa<br />
'''Biocircuits: 8 May (Tue), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Emzo (10-15 min)<br />
* Enoch (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 9 May (Wed), 4-6 pm'''<br />
* Clemens (15-20 min)<br />
* Scott Livingston (15-20 min)<br />
* Mumu (15-20 min)<br />
* Project updates<br />
<hr><br />
* Prabhir Barooha will be visiting on Thu<br />
|- valign=top<br />
|<br />
<br />
=== Week 7: 14-18 May ===<br />
* Richard out of town all week<br />
|<br />
<br />
=== Week 8: 21-25 May ===<br />
'''Biocircuits: 22 May (Tue), 3-5 pm'''<br />
* Zach (30-40 min)<br />
* Jongmin (10-15 min)<br />
* Vanessa (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 23 May (Wed), 4-6 pm'''<br />
* Eric (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 24 May (Thu), 12-1:15'''<br />
* Dan<br />
|<br />
<br />
=== Week 9: 28 May - 1 Jun ===<br />
'''Biocircuits: 29 May (Tue), 3-5 pm'''<br />
* Enoch (30-40 min)<br />
* Shaunak (10-15 min)<br />
* Nikki (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 30 May (Wed), 4-6 pm'''<br />
* Necmiye (15-20 min)<br />
* Qi (15-20 min)<br />
* Stephanie (15-20 min)<br />
* Project updates<br />
'''Group meeting: 31 May (Thu), 12-1:15'''<br />
* Shuo<br />
<br />
|- valign=top<br />
|<br />
<br />
=== Week 10: 4 Jun - 8 Jun ===<br />
'''Biocircuits: 5 Jun (Tue), 3-5 pm'''<br />
* Anu (30-40 min)<br />
* Dan (10-15 min)<br />
* Marcella (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 6 Jun (Wed), 4-6 pm'''<br />
* Scott Livingston (15-20 min)<br />
* Open (15-20 min)<br />
* Pavithra (15-20 min)<br />
* Project updates<br />
'''Group meeting: 7 Jun (Thu), 12-1:15'''<br />
* Emzo<br />
<br />
|<br />
<br />
=== Week 11: 11-15 Jun ===<br />
* Richard out of town Mon-Wed<br />
* Commencement on Fri<br />
|<br />
=== Week 12: 18-22 Jun ===<br />
* First week of SURF<br />
* Summer schedule TBD<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Group_Schedule,_Spring_2012Group Schedule, Spring 20122012-03-26T22:50:23Z<p>Stsuei: /* Week 10: 4 Jun - 8 Jun */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]<br />
| width=50% |<br />
* [[Group Schedule, Winter 2012]]<br />
|}<br />
<br />
The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings.<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=30% |<br />
<br />
=== Week 1: 2-6 Apr ===<br />
'''NCS/Robotics: 2 Apr (Mon), 4-6 pm'''<br />
* Clemens (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 3 Apr (Tue), 12-1:15'''<br />
* Open<br />
'''Biocircuits: 3 Apr (Tue), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Jongmin (10-15 min)<br />
* Zach (10-15 min)<br />
* Lab updates<br />
<hr><br />
* Richard out of town Thu-Fri<br />
| width=30% |<br />
<br />
=== Week 2: 9-13 Apr ===<br />
* Richard out of town all week<br />
| width=30% |<br />
<br />
=== Week 3: 16-20 Apr ===<br />
'''NCS/Robotics: 16 Apr (Mon), 1-3 pm'''<br />
* Eric (15-20 min)<br />
* Ufuk (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 19 Apr (Thu), 12-1:15'''<br />
* Mumu<br />
'''Biocircuits: 19 Apr (Thu), 3-5 pm'''<br />
* Anu (10-15 min)<br />
* Shaunak (10-15 min)<br />
* Victoria (10-15 min)<br />
* Lab updates<br />
<hr><br />
* Richard out of town Tue-Wed<br />
|- valign=top<br />
|<br />
<br />
=== Week 4: 23-27 Apr ===<br />
* Richard out of town Mon-Thu<br />
* Pete Trautman thesis defense (Fri)<br />
|<br />
<br />
=== Week 5: 30 Apr - 4 May ===<br />
'''Biocircuits: 1 May (Tue), 3-5 pm'''<br />
* Paul (30-40 min)<br />
* Dan (10-15 min)<br />
* Nikki(10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 2 May (Wed), 4-6 pm'''<br />
* Shuo (15-20 min)<br />
* Stephanie (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 3 May (Thu), 12-1:15'''<br />
* Marcella <br />
|<br />
<br />
=== Week 6: 7 May - 11 May ===<br />
'''Group meeting: 8 Mar (Tue), 12-1:15'''<br />
* Vanessa<br />
'''Biocircuits: 8 May (Tue), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Emzo (10-15 min)<br />
* Enoch (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 9 May (Wed), 4-6 pm'''<br />
* Clemens (15-20 min)<br />
* Scott Livingston (15-20 min)<br />
* Mumu (15-20 min)<br />
* Project updates<br />
<hr><br />
* Prabhir Barooha will be visiting on Thu<br />
|- valign=top<br />
|<br />
<br />
=== Week 7: 14-18 May ===<br />
* Richard out of town all week<br />
|<br />
<br />
=== Week 8: 21-25 May ===<br />
'''Biocircuits: 22 May (Tue), 3-5 pm'''<br />
* Zach (30-40 min)<br />
* Jongmin (10-15 min)<br />
* Vanessa (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 23 May (Wed), 4-6 pm'''<br />
* Eric (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 24 May (Thu), 12-1:15'''<br />
* Dan<br />
|<br />
<br />
=== Week 9: 28 May - 1 Jun ===<br />
'''Biocircuits: 29 May (Tue), 3-5 pm'''<br />
* Enoch (30-40 min)<br />
* Shaunak (10-15 min)<br />
* Nikki (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 30 May (Wed), 4-6 pm'''<br />
* Necmiye (15-20 min)<br />
* Qi (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 31 May (Thu), 12-1:15'''<br />
* Shuo<br />
<br />
|- valign=top<br />
|<br />
<br />
=== Week 10: 4 Jun - 8 Jun ===<br />
'''Biocircuits: 5 Jun (Tue), 3-5 pm'''<br />
* Anu (30-40 min)<br />
* Dan (10-15 min)<br />
* Marcella (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 6 Jun (Wed), 4-6 pm'''<br />
* Scott Livingston (15-20 min)<br />
* Open (15-20 min)<br />
* Pavithra (15-20 min)<br />
* Project updates<br />
'''Group meeting: 7 Jun (Thu), 12-1:15'''<br />
* Emzo<br />
<br />
|<br />
<br />
=== Week 11: 11-15 Jun ===<br />
* Richard out of town Mon-Wed<br />
* Commencement on Fri<br />
|<br />
=== Week 12: 18-22 Jun ===<br />
* First week of SURF<br />
* Summer schedule TBD<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-03-21T22:46:48Z<p>Stsuei: /* Solutions */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_2_Sign-Up Sign up for a lab 2 time slot]<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Supplementary Reading ==<br />
<br />
* P. Hebert, N. Hudson, J. Ma, J.W. Burdick (2011). Fusion of Stereo Vision, Force-Torque, and Joint Sensors for Estimation of In-Hand Object Location. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' pp. 5935-5941. [[http://www.cds.caltech.edu/~slivings/TA/HHMB_ICRA2011.pdf pdf]]<br />
* P. Hebert, N. Hudson, J. Ma, T. Howard, T. Fuchs, M. Bajracharya, J.W. Burdick (2012). Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' ''to appear.'' [[http://www.cds.caltech.edu/~slivings/TA/HHMHFBB_ICRA2012.pdf pdf]]<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture10.pdf Introduction to Estimation]<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture11.pdf Linear Kalman Filter], [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/KF_proof.pdf Proof of Kalman Filter]<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture12.pdf Extended Kalman Filter, Unscented Kalman Filter]<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture13.pdf Particle Filter]<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Vision and Space Systems<br />
|<br />
|Yang Cheng<br />
|-<br />
|1 Mar (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture15.pdf Mapping, Introduction to Lab 2]<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5.pdf HW 5] (due Tuesday, Feb. 21)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5_material.zip Sample Code] (Feel free to translate to another language - it's not that much)<br />
* [http://www.cds.caltech.edu/~slivings/TA/psets/homework6.pdf HW 6] (due Tuesday, Feb. 28)<br />
** [http://www.cds.caltech.edu/~slivings/TA/psets/homework6_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab02.pdf Lab 2]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab02_material.zip Materials]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_2_Sign-Up Sign-Up Page]<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw5.zip HW 5]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/lab1_part2.zip Lab 1, Part 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw6.zip HW 6]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Group_Schedule,_Spring_2012Group Schedule, Spring 20122012-03-21T20:38:24Z<p>Stsuei: /* Week 10: 4 Jun - 8 Jun */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]<br />
| width=50% |<br />
* [[Group Schedule, Winter 2012]]<br />
|}<br />
<br />
The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings.<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=30% |<br />
<br />
=== Week 1: 2-6 Apr ===<br />
'''NCS/Robotics: 2 Apr (Mon), 4-6 pm'''<br />
* Clemens (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 3 Apr (Tue), 12-1:15'''<br />
* Open<br />
'''Biocircuits: 3 Apr (Tue), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Jongmin (10-15 min)<br />
* Research update (10-15 min)<br />
* Lab updates<br />
<hr><br />
* Richard out of town Thu-Fri<br />
| width=30% |<br />
<br />
=== Week 2: 9-13 Apr ===<br />
* Richard out of town all week<br />
| width=30% |<br />
<br />
=== Week 3: 16-20 Apr ===<br />
'''NCS/Robotics: 16 Apr (Mon), 1-3 pm'''<br />
* Eric (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 19 Apr (Thu), 12-1:15'''<br />
* Open<br />
'''Biocircuits: 19 Apr (Thu), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Shaunak (10-15 min)<br />
* Research update (10-15 min)<br />
* Lab updates<br />
<hr><br />
* Richard out of town Tue-Wed<br />
|- valign=top<br />
|<br />
<br />
=== Week 4: 23-27 Apr ===<br />
* Richard out of town Mon-Thu<br />
* Pete Trautman thesis defense (Fri)<br />
|<br />
<br />
=== Week 5: 30 Apr - 4 May ===<br />
'''Biocircuits: 1 May (Tue), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Dan (10-15 min)<br />
* Research update (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 2 May (Wed), 4-6 pm'''<br />
* Shuo (15-20 min)<br />
* Stephanie (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 3 May (Thu), 12-1:15'''<br />
* Open<br />
|<br />
<br />
=== Week 6: 7 May - 11 May ===<br />
'''Group meeting: 8 Mar (Tue), 12-1:15'''<br />
* Vanessa<br />
'''Biocircuits: 8 May (Tue), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Emzo (10-15 min)<br />
* Enoch (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 9 May (Wed), 4-6 pm'''<br />
* Clemens (15-20 min)<br />
* Scott Livingston (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<hr><br />
* Prabhir Barooha will be visiting on Thu<br />
|- valign=top<br />
|<br />
<br />
=== Week 7: 14-18 May ===<br />
* Richard out of town all week<br />
|<br />
<br />
=== Week 8: 21-25 May ===<br />
'''Biocircuits: 22 May (Tue), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Jongmin (10-15 min)<br />
* Vanessa (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 23 May (Wed), 4-6 pm'''<br />
* Eric (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 24 May (Thu), 12-1:15'''<br />
* Dan<br />
|<br />
<br />
=== Week 9: 28 May - 1 Jun ===<br />
'''Biocircuits: 29 May (Tue), 3-5 pm'''<br />
* Enoch (30-40 min)<br />
* Shaunak (10-15 min)<br />
* Research update (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 30 May (Wed), 4-6 pm'''<br />
* Necmiye (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 31 May (Thu), 12-1:15'''<br />
* Shuo<br />
<br />
|- valign=top<br />
|<br />
<br />
=== Week 10: 4 Jun - 8 Jun ===<br />
'''Biocircuits: 5 Jun (Tue), 3-5 pm'''<br />
* Research Talk (30-40 min)<br />
* Dan (10-15 min)<br />
* Research update (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 6 Jun (Wed), 4-6 pm'''<br />
* Scott Livingston (15-20 min)<br />
* Stephanie (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 7 Jun (Thu), 12-1:15'''<br />
* Emzo<br />
<br />
|<br />
<br />
=== Week 11: 11-15 Jun ===<br />
* Richard out of town Mon-Wed<br />
* Commencement on Fri<br />
|<br />
=== Week 12: 18-22 Jun ===<br />
* First week of SURF<br />
* Summer schedule TBD<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Group_Schedule,_Spring_2012Group Schedule, Spring 20122012-03-21T20:38:11Z<p>Stsuei: /* Week 5: 30 Apr - 4 May */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]<br />
| width=50% |<br />
* [[Group Schedule, Winter 2012]]<br />
|}<br />
<br />
The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings.<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=30% |<br />
<br />
=== Week 1: 2-6 Apr ===<br />
'''NCS/Robotics: 2 Apr (Mon), 4-6 pm'''<br />
* Clemens (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 3 Apr (Tue), 12-1:15'''<br />
* Open<br />
'''Biocircuits: 3 Apr (Tue), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Jongmin (10-15 min)<br />
* Research update (10-15 min)<br />
* Lab updates<br />
<hr><br />
* Richard out of town Thu-Fri<br />
| width=30% |<br />
<br />
=== Week 2: 9-13 Apr ===<br />
* Richard out of town all week<br />
| width=30% |<br />
<br />
=== Week 3: 16-20 Apr ===<br />
'''NCS/Robotics: 16 Apr (Mon), 1-3 pm'''<br />
* Eric (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 19 Apr (Thu), 12-1:15'''<br />
* Open<br />
'''Biocircuits: 19 Apr (Thu), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Shaunak (10-15 min)<br />
* Research update (10-15 min)<br />
* Lab updates<br />
<hr><br />
* Richard out of town Tue-Wed<br />
|- valign=top<br />
|<br />
<br />
=== Week 4: 23-27 Apr ===<br />
* Richard out of town Mon-Thu<br />
* Pete Trautman thesis defense (Fri)<br />
|<br />
<br />
=== Week 5: 30 Apr - 4 May ===<br />
'''Biocircuits: 1 May (Tue), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Dan (10-15 min)<br />
* Research update (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 2 May (Wed), 4-6 pm'''<br />
* Shuo (15-20 min)<br />
* Stephanie (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 3 May (Thu), 12-1:15'''<br />
* Open<br />
|<br />
<br />
=== Week 6: 7 May - 11 May ===<br />
'''Group meeting: 8 Mar (Tue), 12-1:15'''<br />
* Vanessa<br />
'''Biocircuits: 8 May (Tue), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Emzo (10-15 min)<br />
* Enoch (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 9 May (Wed), 4-6 pm'''<br />
* Clemens (15-20 min)<br />
* Scott Livingston (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
<hr><br />
* Prabhir Barooha will be visiting on Thu<br />
|- valign=top<br />
|<br />
<br />
=== Week 7: 14-18 May ===<br />
* Richard out of town all week<br />
|<br />
<br />
=== Week 8: 21-25 May ===<br />
'''Biocircuits: 22 May (Tue), 3-5 pm'''<br />
* Research presentation (30-40 min)<br />
* Jongmin (10-15 min)<br />
* Vanessa (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 23 May (Wed), 4-6 pm'''<br />
* Eric (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 24 May (Thu), 12-1:15'''<br />
* Dan<br />
|<br />
<br />
=== Week 9: 28 May - 1 Jun ===<br />
'''Biocircuits: 29 May (Tue), 3-5 pm'''<br />
* Enoch (30-40 min)<br />
* Shaunak (10-15 min)<br />
* Research update (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 30 May (Wed), 4-6 pm'''<br />
* Necmiye (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 31 May (Thu), 12-1:15'''<br />
* Shuo<br />
<br />
|- valign=top<br />
|<br />
<br />
=== Week 10: 4 Jun - 8 Jun ===<br />
'''Biocircuits: 5 Jun (Tue), 3-5 pm'''<br />
* Research Talk (30-40 min)<br />
* Dan (10-15 min)<br />
* Research update (10-15 min)<br />
* Lab updates<br />
'''NCS/Robotics: 6 Jun (Wed), 4-6 pm'''<br />
* Scott Livingston (15-20 min)<br />
* Research update (15-20 min)<br />
* Research update (15-20 min)<br />
* Project updates<br />
'''Group meeting: 7 Jun (Thu), 12-1:15'''<br />
* Emzo<br />
<br />
|<br />
<br />
=== Week 11: 11-15 Jun ===<br />
* Richard out of town Mon-Wed<br />
* Commencement on Fri<br />
|<br />
=== Week 12: 18-22 Jun ===<br />
* First week of SURF<br />
* Summer schedule TBD<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-03-08T22:21:14Z<p>Stsuei: /* Announcements */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_2_Sign-Up Sign up for a lab 2 time slot]<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Supplementary Reading ==<br />
<br />
* P. Hebert, N. Hudson, J. Ma, J.W. Burdick (2011). Fusion of Stereo Vision, Force-Torque, and Joint Sensors for Estimation of In-Hand Object Location. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' pp. 5935-5941. [[http://www.cds.caltech.edu/~slivings/TA/HHMB_ICRA2011.pdf pdf]]<br />
* P. Hebert, N. Hudson, J. Ma, T. Howard, T. Fuchs, M. Bajracharya, J.W. Burdick (2012). Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' ''to appear.'' [[http://www.cds.caltech.edu/~slivings/TA/HHMHFBB_ICRA2012.pdf pdf]]<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture10.pdf Introduction to Estimation]<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture11.pdf Linear Kalman Filter], [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/KF_proof.pdf Proof of Kalman Filter]<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture12.pdf Extended Kalman Filter, Unscented Kalman Filter]<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture13.pdf Particle Filter]<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Vision and Space Systems<br />
|<br />
|Yang Cheng<br />
|-<br />
|1 Mar (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture15.pdf Mapping, Introduction to Lab 2]<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5.pdf HW 5] (due Tuesday, Feb. 21)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5_material.zip Sample Code] (Feel free to translate to another language - it's not that much)<br />
* [http://www.cds.caltech.edu/~slivings/TA/psets/homework6.pdf HW 6] (due Tuesday, Feb. 28)<br />
** [http://www.cds.caltech.edu/~slivings/TA/psets/homework6_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab02.pdf Lab 2]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab02_material.zip Materials]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_2_Sign-Up Sign-Up Page]<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw5.zip HW 5]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/lab1_part2.zip Lab 1, Part 2]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-03-08T22:20:39Z<p>Stsuei: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Supplementary Reading ==<br />
<br />
* P. Hebert, N. Hudson, J. Ma, J.W. Burdick (2011). Fusion of Stereo Vision, Force-Torque, and Joint Sensors for Estimation of In-Hand Object Location. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' pp. 5935-5941. [[http://www.cds.caltech.edu/~slivings/TA/HHMB_ICRA2011.pdf pdf]]<br />
* P. Hebert, N. Hudson, J. Ma, T. Howard, T. Fuchs, M. Bajracharya, J.W. Burdick (2012). Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' ''to appear.'' [[http://www.cds.caltech.edu/~slivings/TA/HHMHFBB_ICRA2012.pdf pdf]]<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture10.pdf Introduction to Estimation]<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture11.pdf Linear Kalman Filter], [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/KF_proof.pdf Proof of Kalman Filter]<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture12.pdf Extended Kalman Filter, Unscented Kalman Filter]<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture13.pdf Particle Filter]<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Vision and Space Systems<br />
|<br />
|Yang Cheng<br />
|-<br />
|1 Mar (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture15.pdf Mapping, Introduction to Lab 2]<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5.pdf HW 5] (due Tuesday, Feb. 21)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5_material.zip Sample Code] (Feel free to translate to another language - it's not that much)<br />
* [http://www.cds.caltech.edu/~slivings/TA/psets/homework6.pdf HW 6] (due Tuesday, Feb. 28)<br />
** [http://www.cds.caltech.edu/~slivings/TA/psets/homework6_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab02.pdf Lab 2]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab02_material.zip Materials]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_2_Sign-Up Sign-Up Page]<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw5.zip HW 5]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/lab1_part2.zip Lab 1, Part 2]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012,_Lab_2_Sign-UpME/CS 132a, Winter 2012, Lab 2 Sign-Up2012-03-08T21:36:48Z<p>Stsuei: Created page with '==Things to Do== Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page an…'</p>
<hr />
<div>==Things to Do==<br />
<br />
Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page and enter your Caltech IMSS account/password. Remember to fill in everyone's name in your group.<br />
<br />
==Schedule for Lab Session==<br />
{|border=1 width=70%<br />
!colspan=2|12 March 2012 (Mon)<br />
|-<br />
|width=20%|'''Time''' <br />
|'''Names'''<br />
|-<br />
|1-1:30pm<br />
|<br />
|-<br />
|2-2:30pm<br />
|<br />
|-<br />
|3-3:30pm<br />
|<br />
|-<br />
|4-4:30pm<br />
|<br />
|-<br />
|5-5:30pm<br />
|<br />
|}<br />
<br />
{|border=1 width=70%<br />
!colspan=2|13 March 2012 (Tue)<br />
|-<br />
|width=20%|'''Time''' <br />
|'''Names'''<br />
|-<br />
|1-1:30pm<br />
|<br />
|-<br />
|2-2:30pm<br />
|<br />
|-<br />
|3-3:30pm<br />
|<br />
|-<br />
|4-4:30pm<br />
|<br />
|-<br />
|5-5:30pm<br />
|<br />
|-<br />
|}<br />
<br />
==RPIN Assignment==<br />
<FONT color=RED>'''Note to students: Do NOT edit this section.''' </FONT><br />
{|border=1 width=80%<br />
!colspan=2 width=40%|RPIN Assignment<br />
!colspan=2 width=40%|RPIN Assignment<br />
|-<br />
|Port Number<br />
|Name<br />
|Port Number<br />
|Name<br />
|-<br />
|6665<br />
|<DEFAULT><br />
|6666<br />
|Ilya Nepomnyashchiy<br />
|-<br />
|6667<br />
|Brad Saund<br />
|6668<br />
|HongAn Nguyen<br />
|-<br />
|6669<br />
|Chuan-Song Alan<br />
|6670<br />
|Alex Jose<br />
|-<br />
|6671<br />
|Tuan Anh<br />
|6672<br />
|Daniil Kitchaev<br />
|-<br />
|6673<br />
|Martin Michelsen<br />
|6674<br />
|Vivian Zhang<br />
|-<br />
|6675<br />
|Russelln russelln<br />
|6676<br />
|Riley Patterson<br />
|-<br />
|6677<br />
|Supriya Iyer<br />
|6678<br />
|Timothy MacDonald<br />
|-<br />
|6679<br />
|Wei Dai<br />
|6680<br />
|Yifei Huang<br />
|-<br />
|6681<br />
|Kristen Holtz<br />
|6682<br />
|Arun Venkatraman<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-03-07T05:48:05Z<p>Stsuei: /* Solutions */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Supplementary Reading ==<br />
<br />
* P. Hebert, N. Hudson, J. Ma, J.W. Burdick (2011). Fusion of Stereo Vision, Force-Torque, and Joint Sensors for Estimation of In-Hand Object Location. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' pp. 5935-5941. [[http://www.cds.caltech.edu/~slivings/TA/HHMB_ICRA2011.pdf pdf]]<br />
* P. Hebert, N. Hudson, J. Ma, T. Howard, T. Fuchs, M. Bajracharya, J.W. Burdick (2012). Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' ''to appear.'' [[http://www.cds.caltech.edu/~slivings/TA/HHMHFBB_ICRA2012.pdf pdf]]<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture10.pdf Introduction to Estimation]<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture11.pdf Linear Kalman Filter], [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/KF_proof.pdf Proof of Kalman Filter]<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture12.pdf Extended Kalman Filter, Unscented Kalman Filter]<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture13.pdf Particle Filter]<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Vision and Space Systems<br />
|<br />
|Yang Cheng<br />
|-<br />
|1 Mar (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture15.pdf Mapping, Introduction to Lab 2]<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5.pdf HW 5] (due Tuesday, Feb. 21)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5_material.zip Sample Code] (Feel free to translate to another language - it's not that much)<br />
* [http://www.cds.caltech.edu/~slivings/TA/psets/homework6.pdf HW 6] (due Tuesday, Feb. 28)<br />
** [http://www.cds.caltech.edu/~slivings/TA/psets/homework6_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab02.pdf Lab 2]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab02_material.zip Materials]<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw5.zip HW 5]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/lab1_part2.zip Lab 1, Part 2]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-03-02T00:53:50Z<p>Stsuei: /* Lecture Notes */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Supplementary Reading ==<br />
<br />
* P. Hebert, N. Hudson, J. Ma, J.W. Burdick (2011). Fusion of Stereo Vision, Force-Torque, and Joint Sensors for Estimation of In-Hand Object Location. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' pp. 5935-5941. [[http://www.cds.caltech.edu/~slivings/TA/HHMB_ICRA2011.pdf pdf]]<br />
* P. Hebert, N. Hudson, J. Ma, T. Howard, T. Fuchs, M. Bajracharya, J.W. Burdick (2012). Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' ''to appear.'' [[http://www.cds.caltech.edu/~slivings/TA/HHMHFBB_ICRA2012.pdf pdf]]<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture10.pdf Introduction to Estimation]<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture11.pdf Linear Kalman Filter], [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/KF_proof.pdf Proof of Kalman Filter]<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture12.pdf Extended Kalman Filter, Unscented Kalman Filter]<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture13.pdf Particle Filter]<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Vision and Space Systems<br />
|<br />
|Yang Cheng<br />
|-<br />
|1 Mar (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture15.pdf Mapping, Introduction to Lab 2]<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5.pdf HW 5] (due Tuesday, Feb. 21)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5_material.zip Sample Code] (Feel free to translate to another language - it's not that much)<br />
* [http://www.cds.caltech.edu/~slivings/TA/psets/homework6.pdf HW 6] (due Tuesday, Feb. 28)<br />
** [http://www.cds.caltech.edu/~slivings/TA/psets/homework6_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab02.pdf Lab 2]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab02_material.zip Materials]<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw5.zip HW 5]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-03-01T22:33:49Z<p>Stsuei: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Supplementary Reading ==<br />
<br />
* P. Hebert, N. Hudson, J. Ma, J.W. Burdick (2011). Fusion of Stereo Vision, Force-Torque, and Joint Sensors for Estimation of In-Hand Object Location. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' pp. 5935-5941. [[http://www.cds.caltech.edu/~slivings/TA/HHMB_ICRA2011.pdf pdf]]<br />
* P. Hebert, N. Hudson, J. Ma, T. Howard, T. Fuchs, M. Bajracharya, J.W. Burdick (2012). Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' ''to appear.'' [[http://www.cds.caltech.edu/~slivings/TA/HHMHFBB_ICRA2012.pdf pdf]]<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture10.pdf Introduction to Estimation]<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture11.pdf Linear Kalman Filter], [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/KF_proof.pdf Proof of Kalman Filter]<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture12.pdf Extended Kalman Filter, Unscented Kalman Filter]<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture13.pdf Particle Filter]<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Mapping<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|1 Mar (Th)<br />
|Mapping, Introduction to Lab 2<br />
|<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5.pdf HW 5] (due Tuesday, Feb. 21)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5_material.zip Sample Code] (Feel free to translate to another language - it's not that much)<br />
* [http://www.cds.caltech.edu/~slivings/TA/psets/homework6.pdf HW 6] (due Tuesday, Feb. 28)<br />
** [http://www.cds.caltech.edu/~slivings/TA/psets/homework6_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab02.pdf Lab 2]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab02_material.zip Materials]<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw5.zip HW 5]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-02-24T04:47:34Z<p>Stsuei: /* Lecture Notes */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Supplementary Reading ==<br />
<br />
* P. Hebert, N. Hudson, J. Ma, J.W. Burdick (2011). Fusion of Stereo Vision, Force-Torque, and Joint Sensors for Estimation of In-Hand Object Location. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' pp. 5935-5941. [[http://www.cds.caltech.edu/~slivings/TA/HHMB_ICRA2011.pdf pdf]]<br />
* P. Hebert, N. Hudson, J. Ma, T. Howard, T. Fuchs, M. Bajracharya, J.W. Burdick (2012). Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' ''to appear.'' [[http://www.cds.caltech.edu/~slivings/TA/HHMHFBB_ICRA2012.pdf pdf]]<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture10.pdf Introduction to Estimation]<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture11.pdf Linear Kalman Filter], [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/KF_proof.pdf Proof of Kalman Filter]<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture12.pdf Extended Kalman Filter, Unscented Kalman Filter]<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture13.pdf Particle Filter]<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Mapping<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|1 Mar (Th)<br />
|Mapping, Introduction to Lab 2<br />
|<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5.pdf HW 5] (due Tuesday, Feb. 21)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5_material.zip Sample Code] (Feel free to translate to another language - it's not that much)<br />
* [http://www.cds.caltech.edu/~slivings/TA/psets/homework6.pdf HW 6] (due Tuesday, Feb. 28)<br />
** [http://www.cds.caltech.edu/~slivings/TA/psets/homework6_material.zip Materials]<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw5.zip HW 5]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-02-23T16:46:43Z<p>Stsuei: /* Solutions */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Supplementary Reading ==<br />
<br />
* P. Hebert, N. Hudson, J. Ma, J.W. Burdick (2011). Fusion of Stereo Vision, Force-Torque, and Joint Sensors for Estimation of In-Hand Object Location. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' pp. 5935-5941. [[http://www.cds.caltech.edu/~slivings/TA/HHMB_ICRA2011.pdf pdf]]<br />
* P. Hebert, N. Hudson, J. Ma, T. Howard, T. Fuchs, M. Bajracharya, J.W. Burdick (2012). Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' ''to appear.'' [[http://www.cds.caltech.edu/~slivings/TA/HHMHFBB_ICRA2012.pdf pdf]]<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture10.pdf Introduction to Estimation]<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture11.pdf Linear Kalman Filter]<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|Extended Kalman Filter<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|Particle Filter, Unscented Kalman Filter<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Mapping<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|1 Mar (Th)<br />
|Mapping, Introduction to Lab 2<br />
|<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5.pdf HW 5] (due Tuesday, Feb. 21)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5_material.zip Sample Code] (Feel free to translate to another language - it's not that much)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework6.pdf HW 6] (due Tuesday, Feb. 28)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework6_material.zip MATLAB Template Code]<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw5.zip HW 5]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-02-23T07:43:52Z<p>Stsuei: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Supplementary Reading ==<br />
<br />
* P. Hebert, N. Hudson, J. Ma, J.W. Burdick (2011). Fusion of Stereo Vision, Force-Torque, and Joint Sensors for Estimation of In-Hand Object Location. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' pp. 5935-5941. [[http://www.cds.caltech.edu/~slivings/TA/HHMB_ICRA2011.pdf pdf]]<br />
* P. Hebert, N. Hudson, J. Ma, T. Howard, T. Fuchs, M. Bajracharya, J.W. Burdick (2012). Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' ''to appear.'' [[http://www.cds.caltech.edu/~slivings/TA/HHMHFBB_ICRA2012.pdf pdf]]<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture10.pdf Introduction to Estimation]<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture11.pdf Linear Kalman Filter]<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|Extended Kalman Filter<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|Particle Filter, Unscented Kalman Filter<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Mapping<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|1 Mar (Th)<br />
|Mapping, Introduction to Lab 2<br />
|<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5.pdf HW 5] (due Tuesday, Feb. 21)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5_material.zip Sample Code] (Feel free to translate to another language - it's not that much)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework6.pdf HW 6] (due Tuesday, Feb. 28)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework6_material.zip MATLAB Template Code]<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Feb/Mar_2012_MeetingsFeb/Mar 2012 Meetings2012-02-20T18:50:15Z<p>Stsuei: /* Thu, 1 Mar */</p>
<hr />
<div>I would like to meet with everyone sometime in the last week of Feb/first week of March. Please sign up for a time below (note that the slots are different lengths). __NOTOC__<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=50% |<br />
'''In Santa Barbara''' (Vanessa, Ophelia, Dan, Emzo)<br />
==== Tue, 28 Feb ====<br />
* 4:00p - Dan (60m)<br />
* 5:00p - Open (60m)<br />
<br />
==== Wed, 29 Feb ====<br />
* 10:00a - Open (60m)<br />
* 3:30p - Open (60m)<br />
<hr><br />
<br />
==== Thu, 1 Mar ====<br />
* 3:00p - Biocircuits subgroup (Dan, Zach, Ophelia)<br />
* 5:00p - Stephanie (45m)<br />
* 5:45p - Necmiye (45m)<br />
* 6:30p - Open (60m)<br />
<hr><br />
<br />
==== Fri, 2 Mar ====<br />
* 9:00a - Open (60m)<br />
* 10:00a - Eugene Lavretsky (75m)<br />
* 11:15a - Hold, Eugene (45m)<br />
:<br />
* 12:00p - Group meeting<br />
* 1:15p - NCS subgroup (Mumu, Pavithra)<br />
* 3:00p - Pavithra (45m)<br />
* 3:45p - Andrea (60m)<br />
* 4:45p - Shaunak (45m)<br />
* 5:30p - Open (60m)<br />
| width=50% |<br />
<br />
==== Mon, 5 Mar ====<br />
* 9:00a - Open (60m)<br />
* 10:00a - BE 150<br />
* 11:00a - Open (45m)<br />
* 11:45a - Open (45m)<br />
:<br />
* 1:00p - Scott Livingston (60m)<br />
* 2:00p - Open (60m)<br />
* 3:00p - Robotics subgroup (Pete, Andrea)<br />
* 4:30p - Open (60m)<br />
* 5:30p - Open (60m)<br />
* 6:30p - Open (60m)<br />
<hr><br />
<br />
==== Tue, 6 Mar ====<br />
* 9:00a - Open (60m)<br />
* 10:00a -Eric (60m)<br />
* 11:00a - Hold: CDS 90 (60m)<br />
<br />
* 2:00p - Hold: CDS 90 (60m)<br />
* 3:00p - Biocircuits subgroup (Enoch, Vanessa, Victoria)<br />
* 5:00p - iGEM<br />
|}</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-02-20T04:29:57Z<p>Stsuei: /* Lecture Notes */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Supplementary Reading ==<br />
<br />
* P. Hebert, N. Hudson, J. Ma, J.W. Burdick (2011). Fusion of Stereo Vision, Force-Torque, and Joint Sensors for Estimation of In-Hand Object Location. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' pp. 5935-5941. [[http://www.cds.caltech.edu/~slivings/TA/HHMB_ICRA2011.pdf pdf]]<br />
* P. Hebert, N. Hudson, J. Ma, T. Howard, T. Fuchs, M. Bajracharya, J.W. Burdick (2012). Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking. ''Proc. of the IEEE Int'l Conf. on Robotics and Automation (ICRA),'' ''to appear.'' [[http://www.cds.caltech.edu/~slivings/TA/HHMHFBB_ICRA2012.pdf pdf]]<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture10.pdf Introduction to Estimation]<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture11.pdf Linear Kalman Filter]<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|Extended Kalman Filter<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|Particle Filter, Unscented Kalman Filter<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Mapping<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|1 Mar (Th)<br />
|Mapping, Introduction to Lab 2<br />
|<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5.pdf HW 5] (due Tuesday, Feb. 21)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5_material.zip Sample Code] (Feel free to translate to another language - it's not that much)<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-02-15T00:25:10Z<p>Stsuei: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|Introduction to Estimation<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|Linear Kalman Filter<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|Extended Kalman Filter<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|Particle Filter, Unscented Kalman Filter<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Mapping<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|1 Mar (Th)<br />
|Mapping, Introduction to Lab 2<br />
|<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5.pdf HW 5] (due Tuesday, Feb. 21)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5_material.zip Sample Code] (Feel free to translate to another language - it's not that much)<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-02-15T00:24:56Z<p>Stsuei: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|Introduction to Estimation<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|Linear Kalman Filter<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|Extended Kalman Filter<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|Particle Filter, Unscented Kalman Filter<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Mapping<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|1 Mar (Th)<br />
|Mapping, Introduction to Lab 2<br />
|<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5.pdf HW 4] (due Tuesday, Feb. 21)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework5_material.zip Sample Code] (Feel free to translate to another language - it's not that much)<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012ME/CS 132a, Winter 20122012-02-09T06:05:22Z<p>Stsuei: /* Solutions */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 FIR <br />
* Office hours: After class/by appointment<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* Scott Livingston (slivingston@caltech.edu)<br />
* Stephanie Tsuei (stsuei@caltech.edu)<br />
* Office hours: Mon, 4-6pm, SFL 2-2<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* TA office hours will be held on Mondays from 4-6pm in SFL 2-2.<br />
* Jan 12: Please [https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up for the mailing list] and [http://www.doodle.com/xutx23x8wi8v2dfn vote on a time for office hours] before 10pm tonight! <br />
* First lecture on 1/5<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Stephanie Tsuei (stsuei at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks:<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.<br />
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
Additionally, there is an optional textbook that is available as a free download<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
<br />
== Lecture Notes == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Instructor<br />
|-<br />
|align="center" | 1<br />
|5 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture1.pdf Course Overview, Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Forsyth 2.1, 3.1, 3.2<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|10 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture2.pdf Cameras and Calibration]<br />
|Forsyth Ch. 1<br />
|Larry Matthies<br />
|-<br />
|12 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture3.pdf Radiometry, Reflectance, and Color]<br />
|Forsyth 3.3, 3.4, 3.5<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|17 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture4.pdf Low Level Image Processing]<br />
|Forsyth 4.1, 4.2, 4.5<br />
|Roland Brockers<br />
|-<br />
|19 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture5.pdf Feature Detection and Matching]<br />
|Forsyth ch 5<br />
|Roland Brockers<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|24 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture6.pdf Stereo Vision]<br />
|Forsyth ch 7<br />
|Roland Brockers<br />
|-<br />
|26 Jan (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture7.pdf Tracking and Outlier Detection]<br />
|Forsyth 10.4, 11<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|31 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture8.pdf Structure from motion and visual odometry]<br />
|Forsyth ch 8<br />
|Adnan Ansar<br />
|-<br />
|2 Feb (Th)<br />
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]<br />
|Forsyth ch 14<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|7 Feb (Tu)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|9 Feb (Th)<br />
|[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 No Class (Lab 1)]<br />
|<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|14 Feb (Tu)<br />
|Introduction to Estimation<br />
|Thrun 1, 2<br />
|Nick Hudson<br />
|-<br />
|16 Feb (Th)<br />
|Linear Kalman Filter<br />
|Thrun 3.2<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|21 Feb (Tu)<br />
|Extended Kalman Filter<br />
|Thrun 3.3<br />
|Nick Hudson<br />
|-<br />
|23 Feb (Th)<br />
|Particle Filter, Unscented Kalman Filter<br />
|Thrun 3.4<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|28 Feb (Tu)<br />
|Mapping<br />
|Thrun 9<br />
|Jeremy Ma<br />
|-<br />
|1 Mar (Th)<br />
|Mapping, Introduction to Lab 2<br />
|<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|6 Mar (Tu)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|-<br />
|8 Mar (Th)<br />
|No class (Lab 2)<br />
|<br />
|<br />
|}<br />
<br />
== Homework ==<br />
Please pay attention to the [http://www.cds.caltech.edu/~stsuei/me132_2012/implementation_guidelines.pdf implementation guidelines] when writing code for homework. <br />
<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework1_v3.pdf HW 1] (due Tuesday, Jan. 17)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2.pdf HW 2] (due Tuesday, Jan. 24)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework2_images.zip Images you'll need]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3.pdf HW 3] (due Tuesday, Jan. 31)<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework3_data.zip Datasets]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/homework4.pdf HW 4] (due Tuesday, Feb. 7)<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01.pdf Lab 1]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1 Additional Instructions]<br />
** [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2012,_Lab_1_Sign-Up Sign Up Page]<br />
** [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/homework/lab01_material.zip Materials]<br />
<br />
== Solutions ==<br />
Solutions are only accessible from the Caltech network. You can use VPN if you want to access the solutions from off-campus.<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw1.pdf HW 1]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw2.zip HW 2]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw3.zip HW 3]<br />
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132a/solutions/hw4.zip HW 4]</div>Stsueihttp://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2012,_Lab_1_Sign-UpME/CS 132a, Winter 2012, Lab 1 Sign-Up2012-02-06T19:30:53Z<p>Stsuei: /* Schedule for Lab Session */</p>
<hr />
<div>==Things to Do==<br />
'''As an individual''':<br />
* Sign up for an account on the lab server via this [https://docs.google.com/spreadsheet/viewform?hl=en_US&formkey=dEVCVEYtcHFmVTNKVGNITTAwWEE3V1E6MA#gid=0 link].<br />
<br />
'''As a group (2-3 people)''':<br />
* Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page and enter your Caltech IMSS account/password. Remember to fill in everyone's name in your group.<br />
<br />
==Schedule for Lab Session==<br />
{|border=1 width=70%<br />
!colspan=2|9 Feb 2011 (Thu)<br />
|-<br />
|width=20%|'''Time''' <br />
|'''Names'''<br />
|-<br />
|1-1:30pm<br />
|<br />
|-<br />
|2-2:30pm<br />
|Dai Wei & Russell Newman<br />
|-<br />
|3-3:30pm<br />
|Riley Patterson & Vivian Zhang<br />
|-<br />
|4-4:30pm<br />
|Timothy MacDonald & Supriya Iyer<br />
|-<br />
|5-5:30pm<br />
|Daniil Kitchaev, Brad Saund<br />
|}<br />
<br />
{|border=1 width=70%<br />
!colspan=2|10 Feb 2011 (Fri)<br />
|-<br />
|width=20%|'''Time''' <br />
|'''Names'''<br />
|-<br />
|1-1:30pm<br />
|<br />
|-<br />
|2-2:30pm<br />
| Ilya Nepomnyashchiy, Martin Michelsen<br />
|-<br />
|3-3:30pm<br />
|Chuan-Song Alan Lin, Tuan Anh Le<br />
|-<br />
|4-4:30pm<br />
|Mary Nguyen, Alex Jose<br />
|-<br />
|5-5:30pm<br />
|Yifei Huang <3, Kristen Holtz<br />
|-<br />
|}<br />
<br />
==RPIN Assignment==<br />
<FONT color=RED>'''Note to students: Do NOT edit this section.''' </FONT><br />
{|border=1 width=80%<br />
!colspan=2 width=40%|RPIN Assignment<br />
!colspan=2 width=40%|RPIN Assignment<br />
|-<br />
|Port Number<br />
|Name<br />
|Port Number<br />
|Name<br />
|-<br />
|6665<br />
|<DEFAULT><br />
|6666<br />
|Ilya Nepomnyashchiy<br />
|-<br />
|6667<br />
|Brad Saund<br />
|6668<br />
|HongAn Nguyen<br />
|-<br />
|6669<br />
|Chuan-Song Alan<br />
|6670<br />
|Alex Jose<br />
|-<br />
|6671<br />
|Tuan Anh<br />
|6672<br />
|Daniil Kitchaev<br />
|-<br />
|6673<br />
|Martin Michelsen<br />
|6674<br />
|Vivian Zhang<br />
|-<br />
|6675<br />
|Russelln russelln<br />
|6676<br />
|Riley Patterson<br />
|-<br />
|6677<br />
|Supriya Iyer<br />
|6678<br />
|Timothy MacDonald<br />
|-<br />
|6679<br />
|Wei Dai<br />
|6680<br />
|Yifei Huang<br />
|-<br />
|6681<br />
|Kristen Holtz<br />
|6682<br />
|Arun Venkatraman<br />
|}</div>Stsuei