cl#Datewk#TopicSlidesReferencesAssignments OutAssignments Due
1Thu, Jan 111Introduction, TransformationsIntroduction, Transformations   
2Tue, Jan 162Rigid body transformations; RotationsRotationsAn Invitation to 3D Vision, Chapter 2, Robotics: Modelling, Planning and Control, Chapter 2  
3Thu, Jan 182Rotations and velocities IRotations and velocities IRobotics: Modelling, Planning and Control, Chapter 3  
4Tue, Jan 233Rotations and velocities IIRotations and velocities II   
5Thu, Jan 253Quadrotor Dynamics and State Space ModelingQuadrotor Dynamics HW1 
6Tue, Jan 304Linear ControlLinear Control P1-P1 
7Thu, Feb 14Nonlinear ControlNonlinear Control  HW1
8Tue, Feb 65Trajectory planning for quadrotorsTrajectory Planning HW2, P1-P2 
9Thu, Feb 85   P1-P1
10Tue, Feb 136   HW2
11Thu, Feb 156Path Planning IGraph Search P1-P3, P1-P4 
12Tue, Feb 207Path Planning II and Bayesian FilteringPath Planning Bayesian Filtering  P1-P2
13Thu, Feb 227Kalman FilterKalman Filter Kalman Filter Notes 
14Tue, Feb 278Midterm review  P1-P3
15Thu, Mar 18Midterm   
16Tue, Mar 139Camera Model and Perspective ProjectionCamera Model  P1-P4
17Thu, Mar 159Projective GeometryProjective Geometry   
18Tue, Mar 20103D Pose from Projective TransformationsProjective Transformations   
19Thu, Mar 22103D Pose from 2D Points (PnP)The PnP problem HW3, P2-P1 
20Tue, Mar 2711Extended Kalman FilterExtended Kalman Filter   
21Thu, Mar 29123D Pose from 3D Points3D Pose from 3D Points  HW3
22Tue, Apr 313Optical Flow, Grouping and RANSACOptical Flow, Grouping and RANSAC P2-P2P2-P1
23Thu, Apr 5143D Velocities from Optical Flow3D Velocities   
24Tue, Apr 1013Structure from Motion ISfMChapter 6 Ma et al.  
25Thu, Apr 1213Structure from Motion IIsame slides P2-P3,P2-P2
26Tue, Apr 1714Multiple ViewsMultiple Views   
27Thu, Apr 1914Visual-inertial odometryVisual Inertial   
28Tue, Apr 2415Final Exam ReviewReview slides (please check compile time)  P2-P3
 Fri, May 04 Final Exam in same room 9a