| cl# | Date | wk# | Topic | Slides | References | Assignments Out | Assignments Due |
|---|
| 1 | Thu, Jan 12 | 1 | Introduction, Transformations | Introduction, Transformations | | | |
| 2 | Tue, Jan 17 | 2 | Rotations | Rotations | An Invitation to 3D Vision, Chapter 2, Robotics: Modelling, Planning and Control, Chapter 2 | | |
| 3 | Thu, Jan 19 | 2 | Velocities | Velocities | Robotics: Modelling, Planning and Control, Chapter 3 | | |
| 4 | Tue, Jan 24 | 3 | Quadrotor Dynamics | Dynamics | | HW1 | |
| 5 | Thu, Jan 26 | 3 | Quadrotor Trajectory Tracking and Linear Control | Linear Control | | | |
| 6 | Tue, Jan 31 | 4 | Graphical Methods for Nonlinear System Stability, Introduction to Motion Planning | Motion Planning | | HW2, P1-P1 | HW1 |
| 7 | Thu, Feb 2 | 4 | Path Planning | Path Planning | | | |
| 8 | Tue, Feb 7 | 5 | Graph Search | Graph Search | | P1-P2 | P1-P1 |
| 9 | Thu, Feb 9 | 5 | Probabilistic and Multi-Robot Planning | Probabilistic Planning Multirobot Planning | | | HW2 (Feb 10) |
| 10 | Tue, Feb 14 | 6 | Trajectory Planning | Trajectory Planning | | P1-P3 | |
| 11 | Thu, Feb 16 | 6 | Bayesian Filtering | Bayesian Filtering | | | P1-P2 |
| 12 | Tue, Feb 21 | 7 | Kalman Filter | Kalman Filter | Kalman Filter Notes | P1-P4 | P1-P3 |
| 13 | Thu, Feb 23 | 7 | Extended Kalman Filter | Extended Kalman Filter | | | |
| 14 | Tue, Feb 28 | 8 | Midterm review | Midterm | | | |
| 15 | Thu, Mar 2 | 8 | Midterm | | | | |
| | | | SPRING BREAK | | | | |
| 16 | Tue, Mar 14 | 9 | SNOW DAY | | | | P1-P4 (Mon, Mar 13) |
| 17 | Thu, Mar 16 | 9 | Camera Model | Camera Model | | | |
| 18 | Tue, Mar 21 | 10 | Projective Geometry I | Projective Geometry | | | |
| 19 | Thu, Mar 23 | 10 | Projective Geometry II | | | HW3, P2-P1 | |
| 20 | Tue, Mar 28 | 11 | Pose Estimation from Collineations | Pose Estimation | | | |
| 21 | Thu, Mar 30 | 11 | PnP, 2D-3D, 3D-3D Pose | PnP | | | HW3 (Fri Mar 31) |
| 22 | Tue, Apr 4 | 12 | 3D Velocity from Optical Flow and RANSAC | 3D Velocities | | P2-P2 | P2-P1 |
| 23 | Thu, Apr 6 | 12 | 3D Velocity from Optical Flow and RANSAC | Grouping, Optical Flow | | | |
| 24 | Tue, Apr 11 | 13 | Two-View Structure from Motion I | SFM | | | |
| 25 | Thu, Apr 13 | 13 | Two-View Structure from Motion II | | | P2-P3, HW4 | P2-P2 |
| 26 | Tue, Apr 18 | 14 | Visual Odometry/Bundle Adjustment | Visual Odometry | | HW5 | |
| 27 | Thu, Apr 20 | 14 | Visual-Inertial Odometry I | Two View Metrology | | | HW4 |
| 28 | Tue, Apr 25 | 15 | Midterm Review | | | | HW5, P2-P3 |