| cl# | Date | wk# | Topic | Slides | References | Assignments Out | Assignments Due |
|---|
| 1 | Thu, Jan 11 | 1 | Introduction, Transformations | Introduction, Transformations | | | |
| 2 | Tue, Jan 16 | 2 | Rigid body transformations; Rotations | Rotations | An Invitation to 3D Vision, Chapter 2, Robotics: Modelling, Planning and Control, Chapter 2 | | |
| 3 | Thu, Jan 18 | 2 | Rotations and velocities I | Rotations and velocities I | Robotics: Modelling, Planning and Control, Chapter 3 | | |
| 4 | Tue, Jan 23 | 3 | Rotations and velocities II | Rotations and velocities II | | | |
| 5 | Thu, Jan 25 | 3 | Quadrotor Dynamics and State Space Modeling | Quadrotor Dynamics | | HW1 | |
| 6 | Tue, Jan 30 | 4 | Linear Control | Linear Control | | P1-P1 | |
| 7 | Thu, Feb 1 | 4 | Nonlinear Control | Nonlinear Control | | | HW1 |
| 8 | Tue, Feb 6 | 5 | Trajectory planning for quadrotors | Trajectory Planning | | HW2, P1-P2 | |
| 9 | Thu, Feb 8 | 5 | | | | | P1-P1 |
| 10 | Tue, Feb 13 | 6 | | | | | HW2 |
| 11 | Thu, Feb 15 | 6 | Path Planning I | Graph Search | | P1-P3, P1-P4 | |
| 12 | Tue, Feb 20 | 7 | Path Planning II and Bayesian Filtering | Path Planning Bayesian Filtering | | | P1-P2 |
| 13 | Thu, Feb 22 | 7 | Kalman Filter | Kalman Filter | | Kalman Filter Notes | |
| 14 | Tue, Feb 27 | 8 | Midterm review | | | | P1-P3 |
| 15 | Thu, Mar 1 | 8 | Midterm | | | | |
| | | | SPRING BREAK | | | | |
| 16 | Tue, Mar 13 | 9 | Camera Model and Perspective Projection | Camera Model | | | P1-P4 |
| 17 | Thu, Mar 15 | 9 | Projective Geometry | Projective Geometry | | | |
| 18 | Tue, Mar 20 | 10 | 3D Pose from Projective Transformations | Projective Transformations | | | |
| 19 | Thu, Mar 22 | 10 | 3D Pose from 2D Points (PnP) | The PnP problem | | HW3, P2-P1 | |
| 20 | Tue, Mar 27 | 11 | Extended Kalman Filter | Extended Kalman Filter | | | |
| 21 | Thu, Mar 29 | 12 | 3D Pose from 3D Points | 3D Pose from 3D Points | | | HW3 |
| 22 | Tue, Apr 3 | 13 | Optical Flow, Grouping and RANSAC | Optical Flow, Grouping and RANSAC | | P2-P2 | P2-P1 |
| 23 | Thu, Apr 5 | 14 | 3D Velocities from Optical Flow | 3D Velocities | | | |
| 24 | Tue, Apr 10 | 13 | Structure from Motion I | SfM | Chapter 6 Ma et al. | | |
| 25 | Thu, Apr 12 | 13 | Structure from Motion II | same slides | | P2-P3, | P2-P2 |
| 26 | Tue, Apr 17 | 14 | Multiple Views | Multiple Views | | | |
| 27 | Thu, Apr 19 | 14 | Visual-inertial odometry | Visual Inertial | | | |
| 28 | Tue, Apr 24 | 15 | Final Exam Review | Review slides (please check compile time) | | | P2-P3 |
| | Fri, May 04 | | Final Exam in same room 9a | | | |