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Week 1
01/26
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Introduction
Overview of ROS and available packages (by Anton)
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Homework 1
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Week 2
01/31
02/02
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Hardware and Locomotion
Introduction to ROS
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Read chapter 2 of Correll
First Project (getting started with ROS)
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Week 3
02/07
02/09
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Coordinate System Transformations : Representing Position and Orientation
Linear algebra tutorial (from PennState)
Mobile Robot Kinematics
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First Project due!
Second Project (Kinematics)
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Week 4
02/14
02/16
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Basic Control and Mobile Robot Control
Path Planning
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Week 5
02/21
02/23
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More ROS (by Anton)
Sensors: depth sensors and inertial based sensors
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Third Project (Control)
Homework 2
Solutions
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Week 6
02/28
03/02
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Vision:
- Image Formation
- Filters and Edge Detection
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Week 7
03/07
03/09
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Vision:
- Image Features
- Line Fitting, Quaternions
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Fourth Project (Mapping)
Homework 3
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Week 8
03/14
03/16
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Image Motion
Midterm (3/16)
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Week 9
03/21
03/23
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Spring Break
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Week 10
03/28
03/30
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Histograms
SIFT features
Hough transforms
Basic estimation
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Fifth Project (SLAM)
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Week 11
04/04
04/06
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Depth from Stereo
Probabilistic Robotics - Statistics Prerequisites
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Week 12
04/11
04/13
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Uncertainty and Error Propagation
Localization with sensors - Markov localization
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Week 13
04/18
04/20
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Particle Filter
(localization tips
)
Kalman Filters
(example
)
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Sixth Project (Reign of Gunters!)
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Week 14
04/25
04/27
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Multiple View Geometry and Homography
SLAM
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Week 15
05/02
05/04
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Object Recognition:
- Recognizing specific objects
- Recognizing categories of objects
3D Point Cloud Processing
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Week 16
05/09
05/11
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Visual Servoing
Grasping
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