LaTeX source and figures from student scribe notes
| Week | Day | Date | Topic | Online Video | References | Slides |
|---|---|---|---|---|---|---|
| 1 | W(M) | 1/15 | Outline | |||
| 1 | F | 1/17 | Introduction | Introduction | mp_intro / graph_search | |
| 2 | M | 1/20 | MLK Day, No classes | |||
| 2 | F | 1/24 | Rigid Body Transformations - Rotations | RBTs - Rotations | RBTs - Rot1 / Rot2 / Rot3 / Rot4 / Rot5 | |
| 3 | M | 1/27 | Controller Design | Gain Tuning | Controller | |
| 3 | F | 1/31 | Quaternions | Quaternions | Quaternions | |
| 4 | M | 2/3 | Time, Motion and Trajectories | TMT / Trajectory Generation | ||
| 4 | F | 2/7 | Multi Robot Planning | MRP | Mutli Robot Planning | |
| 5 | M | 2/10 | Angular Velocities | Quad. Dyn. | Quad Dyn. / Ang. Vel. | |
| 5 | F | 2/14 | Controllability and Reachability | Controllability / Dynamical Sys. | ||
| 6 | M | 2/17 | Nonlinear Control | Nonlin. Cont. | ||
| 6 | F | 2/21 | Camera Model | Camera Model | Cam. Mod. | |
| 7 | M | 2/24 | Projective Geom. | Proj. Geom. | Proj. Geom. | |
| 7 | F | 2/28 | - | - | ||
| 8 | M | 3/3 | Point Feats. / Edge Detection | Point Feats Edge Det. | Point feats. / Edge Det. | |
| 8 | F | 3/7 | Optical Flow | Optical Flow | Optical Flow | |
| - | M | 3/10 | Spring break | |||
| - | F | 3/14 | Spring break | |||
| 9 | M | 3/17 | Grouping of Features and Matches | Grouping of Features | Grouping of Features and Matches | |
| 9 | F | 3/21 | Projective Transformations | Proj. Trans. | [KOSTAS08] | Proj. Trans. |
| 10 | M | 3/24 | Pose estimation | PnP / Pose from Proj. Trans. | PnP / Pose from Proj. Trans. | |
| 10 | F | 3/28 | Pose estimation | 3D-3D Pose estimation | 3D-3D pose estimation | |
| 11 | M | 3/31 | Vel. from Opt. Flow | Vel. from Opt. Flow | [SASTRY14] | Vel. from Opt. Flow |
| 11 | F | 4/4 | 3D motion from two views | 3D motion from two views | 3D motion from two views | |
| 12 | M | 4/7 | Multiple Views, Bundle Adjustment, Visual Odometry | Visual Odom. SfM from Mult. Views | 3D motion and Structure from Multiple Views, Visual Odomtry | |
| 12 | F | 4/11 | Intro. to Probability, Bayes filter | |||
| 13 | M | 4/14 | Kalman Filter | |||
| 13 | F | 4/18 | Kalman Filter (contd.), Extended Kalman Filter | Intro. to Filtering | ||
| 14 | M | 4/21 | Motion planning revisited, RRT | Motion planning revisited + RRT | ||
| 14 | F | 4/25 | ||||
| 15 | M | 4/28 |