| Lec | Week | Day | Date | Topic | Reading | Work Due |
|---|---|---|---|---|---|---|
| 1 | 1 | Wed | 11-Jan | Introduction to the course, assignment of Project 1, A* algorithm | ||
| Mon | 16-Jan | MLK day no class | ||||
| 2 | Wed | 18-Jan | Intro, Rigid Body Transformations | MLS Ch 1, 2.1; PC Ch 1, 2.1-2.2 | ||
| 3 | 2 | Mon | 23-Jan | Kinematics: Rotations, the Euclidian group, and subgroups | MLS Ch 2.1-2.2, PC, Ch 2 completed, (Funda and Paul, 88) | HW 1 assigned |
| 4 | Wed | 25-Jan | Project 1, Phase 2 (dynamics) | PC, Section 4.3 | ||
| Sat | 28-Jan | Project 1, Phase 1 at 11:59 pm | ||||
| 5 | 3 | Mon | 30-Jan | Project 1, Phase 2 (control system design, LQR design), Time and Motion | PC, Ch 3 | HW 1 Due in class |
| 6 | Wed | 1-Feb | Trajectory generation (continued) | PC, Ch3 | ||
| 7 | 4 | Mon | 6-Feb | Rotations and Angular Velocities | PC, Ch 3 | |
| 8 | Wed | 8-Feb | Motion Planning , Autonomous Navigation with a Quadrotor | Chapter 5 | Project 1, Phase 2, 11:59 PM | |
| 9 | 5 | Mon | 13-Feb | RRTs for Motion Planning | Chapter 5 | HW 2 Due in class |
| 10 | Wed | 15-Feb | 4.2 | |||
| Sun | 19-Feb | Project 1, Phase 3 at 11:59 pm | ||||
| 11 | 6 | Mon | 20-Feb | 4.3 | HW 3 assigned | |
| 12 | Wed | 22-Feb | Introduction to camera | 12 | ||
| 13 | 7 | Mon | 27-Feb | Image Feature: Convolution | 13 | |
| 14 | Wed | 29-Feb | Image Feature: Edge and corner detection, feature matching | 13 | HW 3 Due in class | |
| Mon | 5-Mar | Spring Break | ||||
| Wed | 7-Mar | Spring Break | ||||
| 15 | 8 | Mon | 12-Mar | Image Feature: Corner detection, SIFT, feature matching | 14.3 | |
| 16 | Wed | 14-Mar | 3D Structure and Motion: Stereo | 14.2, RS 7.1, RS 7.2 | ||
| 17 | 9 | Mon | 19-Mar | 3D Structure and Motion: Epipolar geometry | 14.3.9 | |
| 18 | Wed | 21-Mar | 3D Structure and Motion: Epipolar geometry 2, 3D Structure and Motion: Linear algebra, 3D Structure and Motion: The fundamental matrix song | RS 7.3 | ||
| 19 | 10 | Mon | 26-Mar | 3D Structure and Motion: Motion Correspondence | RS 7.4, Longue & Higgins, Szeliski | |
| 20 | Wed | 28-Mar | ||||
| 21 | 11 | Mon | 2-Apr | 3D Structure and Motion: Motion Estimation , Reference Paper | ||
| 22 | Wed | 4-Apr | 3D Structure and Motion: Bundle Adjustment | |||
| 23 | Mon | 9-Apr | Stability, Lyapunov Theory, Controllability | |||
| 25 | Mon | 16-Apr | Control System Design | |||
| 26 | Wed | 18-Apr | Control System Design 2 | |||