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| Lec | Week | Day | Date | Topic | References | Notes |
|---|---|---|---|---|---|---|
| 1 | 0 | Fri | 11-Jan | Course Overview, Dijkstra, | [0] Chapter 2.1-2.3 | Kennedy Whitzer |
| 2 | 1 | Mon | 14-Jan | Configuration Space, A Star | [0] Chapter 4 | He Furuya |
| 3 | Fri | 18-Jan | Kinematics: Rotations, the Euclidean group and subgroups | [1,2] | Boots Furuya | |
| 2 | Mon | 21-Jan | MLK Day, No Class | |||
| 4 | Fri | 25-Jan | Dynamics: Newton-Euler Equations of Motion | Boots | ||
| 5 | 3 | Mon | 28-Jan | Dynamics: Newton-Euler Equations of Motion | Anon Qu | |
| 6 | Fri | 01-Feb | Application to Quadrotors | Wilson Ramaithitima | ||
| 7 | Mon | 04-Feb | Trajectory Generation, Least Squares, Nonlinear Control | [3 Chapter 3], [4] NL: [5], [6 - Chapter 4], Attach:Pendulum_Eg.m, Attach:Lie_Derivatives_Eg.m | Wang | |
| 8 | Frid | 8-Feb | Feature Matching and 1D - 2D Edge Detection | Karachalios He | ||
| 9 | Mon | 11-Feb | Edge and Corner Detection | Monterroza Karachalios | ||
| 10 | Fri | 15-Feb | Corner Detection and Feature Tracking | Chu Wang | ||
| 11 | Mon | 18-Feb | Grouping Features | Chu Hui | ||
| 12 | Fri | 22-Feb | Basic Optics | Latscha | ||
| 13 | Mon | 25-Feb | Camera Coordinates, World Coordinates, Projective Plane | Zhu Monterroza | ||
| 14 | Fri | 1-Mar | Image Formation | Zhu Huang | ||
| 15 | Mon | 11-Mar | Pose Estimation | Ozaslan Qu | ||
| 16 | Fri | 15-Mar | Absolute Pose | Kennedy Greco | ||
| 17 | Mon | 18-Mar | Absolute Pose Estimation and Epipolar Geometry | Anon Ozaslan | ||
| 18 | Fri | 22-Mar | Two View Pose Estimation | Latscha Liu | ||
| 19 | Mon | 25-Mar | Eight point Algorithm | Morzel | ||
| 20 | Fri | 29-Mar | Velocity Detection | Greco Whitzer | ||
| 21 | Mon | 01-Apr | Wilson Ramaithitima | |||
| 22 | Fri | 05-Apr | Kalman Filter | Gagne Morzel | ||
| 23 | Mon | 08-Apr | Extended Kalman Filter | Gagne Tosun | ||
| 24 | Fri | 12-Apr | Bayes Filters + Particle Filter | Huang Tosun |
References:
[0] LaValle, S., Planning Algorithms. Cambridge University Press, 2006. Free at http://msl.cs.uiuc.edu/~lavalle/planning/.
[1] S. P. Bhat, D. S. Bernstein, "A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon," Systems and Control Letters, Vol. 39, pp. 66-70, 2000.
[2] A. J. Hanson, "Visualizing Quaternions," Morgan Kaufmann Publishers, 2006.
[3] Robotics, Vision and Control, website, amazon.com
[4] G. Strang, Introduction to Linear Algebra, Wellesley-Cambridge Press, 2003, Link for least squares chapter
[5] J.J. Slotine, W. Li, Applied Nonlinear Control, Prentice Hall.
[6] R.M. Murray, Z. Li, and S.S. Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press.
[7] Adnan Ansar and Kostas Daniilidis, Linear Pose Estimation from Points or Lines
[8] Jan-Olof Eklundh and Kostas Daniilidis, 3-D Vision and Recognition,
[9] ROBERT M. HARALICK, CHUNG-NAN LEE, KARSTEN OTTENBERG, MICHAEL NOLLE, Review and Analysis of Solutions of the Three Point Perspective Pose Estimation Problem