ME/CS 132a, Winter 2013

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Advanced Robotics: Navigation and Vision

Instructors

  • Larry Matthies (coordinator), lhm@jpl.nasa.gov
  • Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
  • Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
  • Office hours: After class/by appointment

Teaching Assistants (me132-tas@caltech.edu)

  • Yifei Huang (yifei.huang@caltech.edu)
  • Ilya Nepomnyashchiy (ilyanep@caltech.edu)
  • Office hours:
    • Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)

Course Mailing List: me132-students@caltech.edu (sign up)

Announcements

  • 4/2: Link to ME 132(b) Web Site;
  • 2/11: Office hours today (Monday) 5-6pm in SFL 2-2.
  • 2/1: Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
  • 1/15: Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
  • 1/11: Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
  • 1/10: Note about signing up for the mailing list: Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
  • There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
  • First lecture on 1/8.

Course Information

Prerequisites

There are no formal prerequisites for the course. 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.

Grading

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.

  • 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 Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
  • Labs: Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

Collaboration Policy

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.

Course Texts

There are two required textbooks:

  • David A. Forsyth and Jean Ponce, Computer Vision: A Modern Approach (2nd Edition), Prentice Hall, 2011.
  • Sebastian Thrun, Wolfram Burgard, and Dieter Fox, Probabilistic robotics, MIT Press, 2005.

Additionally, there is an optional textbook that is available as a free download

Lecture Notes

Week Date Topic Reading Instructor
1 8 Jan (Tu) Course Overview, Illumination, Radiometry Forsyth 2.1, 3.1, 3.2 Larry Matthies
10 Jan (Th) Cameras and Calibration Forsyth Ch. 1 Larry Matthies
2 15 Jan (Tu) Radiometry, Reflectance, and Color Forsyth 3.3, 3.4, 3.5 Larry Matthies
17 Jan (Th) Low Level Image Processing Forsyth 4.1, 4.2, 4.5 Roland Brockers
3 22 Jan (Tu) Feature Detection and Matching Forsyth ch 5 Roland Brockers
24 Jan (Th) Stereo Vision Forsyth ch 7 Roland Brockers
4 29 Jan (Tu) Tracking and Outlier Detection Forsyth 10.4, 11 Yang Cheng
31 Jan (Th) Structure from motion and visual odometry Forsyth ch 8 Adnan Ansar
5 5 Feb (Tu) Overview of Range Sensors, Introduction to Lab 1 Forsyth ch 14 Jeremy Ma
7 Feb (Th) No Class (Lab 1)
6 12 Feb (Tu) No Class (Lab 1)
14 Feb (Th) Introduction to Estimation, Notes on Estimation Thrun 1, 2 Paul Hebert
7 19 Feb (Tu) Linear Kalman Filter, Notes on Kalman Filters, Car example, Moon Lander example Thrun 3.2 Nick Hudson
21 Feb (Th) Extended Kalman Filter, EKF example, UKF example Thrun 3.3 Nick Hudson
8 26 Feb (Tu) Particle Filter and Unscented Kalman Filter, Particle Filter Notes Thrun 3.4 Nick Hudson
28 Feb (Th) Vision and Space Systems Yang Cheng
9 5 Mar (Tu) Examples, Intro to Mapping, Paper on LS3 Robot Paper on Mapping Thrun 9 Jeremy Ma
7 Mar (Th) Occupancy Grid Maps, Intro to Lab 2
10 12 Mar (Tu) No class (Lab 2)

Homework

Please pay attention to the implementation guidelines when writing code for homework.