https://airwiki.elet.polimi.it/api.php?action=feedcontributions&user=SimoneCeriani&feedformat=atomAIRWiki - User contributions [en]2024-03-29T07:59:11ZUser contributionsMediaWiki 1.25.6https://airwiki.elet.polimi.it/index.php?title=MoonSlam&diff=16227MoonSlam2013-04-23T09:37:05Z<p>SimoneCeriani: /* PhD Thesis */</p>
<hr />
<div>{{Project<br />
|title=moonSlam<br />
|coordinator=MatteoMatteucci<br />
|tutor=SimoneCeriani;<br />
|students=VincenzoRizzo;RobertoBacciocchi; AntonioBianchi; MladenMazuran; MatteoLuperto; AngeloZuffiano;<br />
|resarea=Computer Vision and Image Analysis<br />
|start=2010/06/30<br />
|status=Active<br />
}}<br />
== PhD Thesis ==<br />
Simone Ceriani PhD Thesis, download [https://www.box.com/s/pzgt89pzl17mb7zyd52r here] or on [http://hdl.handle.net/10589/74243 POLITesi]<br />
<br />
== Goal ==<br />
The aim of the moonSlam project is to create a generic software framework for SLAM (Simultaneous Localization And Mapping).<br />
<br />
== Motivation ==<br />
<br />
== Download ==<br />
<br />
Use the DEI svn system (you need a valid account):<br />
<br />
* cd in your workspace directory<br />
* to download all the project: <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/</code><br />
* to download only the "trunk": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/trunk/</code><br />
* to download only a "tag": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/<tagname>/</code><br />
** (you can know all the tags by <code>svn ls https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/</code>)<br />
<br />
Use --username <username> after the svn command if you neeed to specify your username and password<br />
<br />
== SVN principal commands ==<br />
Check this, seems to be a good tutorial: [[http://svnbook.red-bean.com/en/1.4/svn.tour.cycle.html]]<br />
* do <code>svn up</code> or <code>svn update</code> to check the status of repository<br />
* with <code>svn add</code> you can add the unversioned elements (it is recursive)<br />
* with <code>svn stat</code> you can check your svn status<br />
* with <code>svn ci -m"comments"</code> you can checkin your files<br />
<br />
===How to says to svn that some folders or files has to be ignored===<br />
This is the common situtation<br />
* you want to avoid the versioning of .settings, build and doc folder (that are shown with a '?' in the svn stat result)<br />
* do <code>svn propedit .</code><br />
* add in the editor (nano, vim or something similar) the folders or files that you want to ignore (one per line).<br />
* run <code>svn stat</code>, the '?' should disappear, because the elements are ignored.<br />
<br />
== Useful readings ==<br />
<br />
=== Introduction to SLAM ===<br />
* Wikipedia [http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping]<br />
* IEEE Slam tutorials<br />
** Simultaneous Localization and Mapping: Part I [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1638022&userType=inst]<br />
** Simultaneous Localization and Mapping: Part II [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1678144]<br />
<br />
* The SSS06 (SLAM Summer School) pages, refer to "lectures" and "Practicals" [http://www.robots.ox.ac.uk/~SSS06/Website/index.html]<br />
* The BMVC 2007 tutorials [http://www.cs.bris.ac.uk/Research/Vision/Realtime/bmvctutorial/]<br />
* Joan Solà have an on line course on SLAM [http://homepages.laas.fr/jsola/JoanSola/eng/course.html here]. It's based on a Matlab toolbox developed by Solà (http://homepages.laas.fr/jsola/JoanSola/eng/toolbox.html)<br />
<br />
==== EKF ====<br />
* Probabilistic Robotics [http://robots.stanford.edu/probabilistic-robotics/]<br />
<br />
==== Computer Vision ====<br />
* Computer Vision: Algorithms and Applications [http://szeliski.org/Book/]<br />
A freely available book about Computer Vision. Some chapters are dedicated to features recognition. <br />
<br />
==== Useful Materials ====<br />
* Joan Solà materials on quaternions [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/kinematics.pdf], EKF mathematics for SLAM [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/FisslamNotes.pdf] and PhD Thesis [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]<br />
<br />
=== Some thesis (Bachelor, MS or PhD) ===<br />
* Visual<br />
** Migliore Davide (PhD) []<br />
** MarzoratiDaniele (PhD) []<br />
** RigamontiRoberto (MS) []<br />
** Joan Solà (Phd) [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]<br />
<br />
* Laser<br />
** [[User:MauroBrenna|Mauro Brenna]] []<br />
** [[User:MladenMazuran|Mladen Mazuran]] &amp; [[User:MatteoLuperto|Matteo Luperto]] (Bachelor) []<br />
<br />
* Computer Vision<br />
** MassimoQuadrana (Bachelor) []<br />
<br />
* CI-Slam<br />
** Pedro Piniés Rodriguez (Phd) [http://robots.unizar.es/data/documentos/PedroPiniesThesis.pdf]<br />
<br />
== How to compile ==<br />
On a "clean" Ubuntu 10.04.2 32bit installation, first of all, you need to install these packages:<br />
* <code>subversion cmake g++ doxygen</code><br />
Then you have to install all the libraries required<br />
by moonSlam:<br />
* <code>liblog4cpp5-dev libxml++2.6-dev libpng3-dev libboost-all-dev</code><br />
<br />
<br />
moonSlam requires packages that are not available in Ubuntu standard repositories: <br />
*libconfig++1.4.6<br />
Download it from [http://www.hyperrealm.com/main.php?s=libconfig here]<br />
and then install it, following the instructions written in INSTALL file.<br />
* Eigen 3.0 library<br />
Download it from [http://eigen.tuxfamily.org/index.php?title=3.0_beta here]<br />
and then install it, following the instructions written in INSTALL file.<br />
* Opencv 2.2<br />
Download it from [http://opencv.willowgarage.com here]<br />
and then install it, following the instruction written [http://opencv.willowgarage.com/wiki/InstallGuide here].<br />
<br />
Opencv2.2 needs eigen2 library. Before compiling it, install eigen2 library (<code>apt-get install libeigen2-dev</code>).<br />
<br />
You need also mrpt from the svn<br />
svn checkout http://mrpt.googlecode.com/svn/trunk/ mrpt-read-only<br />
cd mrpt-read-only/<br />
mkdir build<br />
cd build/<br />
cmake ..<br />
make<br />
sudo make install<br />
Now you can compile moonSlam.<br />
* open a shell inside trunk folder<br />
* <code>mkdir build <br> cd build </code><br />
* now you can make one of these folder<br />
** <code>Debug</code><br />
** <code>Release</code><br />
** <code>RelWithDebInfo</code><br />
** <code>MinSizeRel</code><br />
* cd in the created folder (e.g. <code>cd Debug</code>)<br />
* <code>cmake ../..</code><br />
* <code>make</code><br />
If everything goes fine, compiled binaries and libraries will be<br />
written inside trunk/build/<yourChoice> folder (keeping trunk folder "clean").<br />
<br />
'''Note:''' performance, executable size and other aspects depends on the choosen build configuration. See the CMakeLists.txt file to know which compilations flags are used.<br />
<br />
'''Note(2):''' MoonSlam compile with the libconfig++ proposed in Ubuntu repository, but some configuration files use the @include directive, that is supported by the libconfig++1.4.6.<br />
<br />
== Create the documentation ==<br />
go in the base folder (e.g. trunk) and type<br />
<code>doxygen <LibraryName>.doxyfile</code><br />
<br />
you will find documentation in doc/<LibraryName>/html folder<br />
<br />
for each library<br />
<br />
== Links ==<br />
[http://www.doc.ic.ac.uk/~ajd/ Andrew Davison home page]<br />
<br />
[http://homepages.laas.fr/jsola/JoanSola/eng/JoanSola.html Joan Solà home page]<br />
<br />
[http://robots.unizar.es/html/home.php Robotics, Perception and Real Time group, Zaragoza]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=MoonSlam&diff=15919MoonSlam2013-02-28T09:41:46Z<p>SimoneCeriani: /* PhD Thesis */</p>
<hr />
<div>{{Project<br />
|title=moonSlam<br />
|coordinator=MatteoMatteucci<br />
|tutor=SimoneCeriani;<br />
|students=VincenzoRizzo;RobertoBacciocchi; AntonioBianchi; MladenMazuran; MatteoLuperto; AngeloZuffiano;<br />
|resarea=Computer Vision and Image Analysis<br />
|start=2010/06/30<br />
|status=Active<br />
}}<br />
== PhD Thesis ==<br />
Simone Ceriani PhD Thesis, download [https://www.box.com/s/pzgt89pzl17mb7zyd52r here]<br />
<br />
== Goal ==<br />
The aim of the moonSlam project is to create a generic software framework for SLAM (Simultaneous Localization And Mapping).<br />
<br />
== Motivation ==<br />
<br />
== Download ==<br />
<br />
Use the DEI svn system (you need a valid account):<br />
<br />
* cd in your workspace directory<br />
* to download all the project: <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/</code><br />
* to download only the "trunk": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/trunk/</code><br />
* to download only a "tag": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/<tagname>/</code><br />
** (you can know all the tags by <code>svn ls https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/</code>)<br />
<br />
Use --username <username> after the svn command if you neeed to specify your username and password<br />
<br />
== SVN principal commands ==<br />
Check this, seems to be a good tutorial: [[http://svnbook.red-bean.com/en/1.4/svn.tour.cycle.html]]<br />
* do <code>svn up</code> or <code>svn update</code> to check the status of repository<br />
* with <code>svn add</code> you can add the unversioned elements (it is recursive)<br />
* with <code>svn stat</code> you can check your svn status<br />
* with <code>svn ci -m"comments"</code> you can checkin your files<br />
<br />
===How to says to svn that some folders or files has to be ignored===<br />
This is the common situtation<br />
* you want to avoid the versioning of .settings, build and doc folder (that are shown with a '?' in the svn stat result)<br />
* do <code>svn propedit .</code><br />
* add in the editor (nano, vim or something similar) the folders or files that you want to ignore (one per line).<br />
* run <code>svn stat</code>, the '?' should disappear, because the elements are ignored.<br />
<br />
== Useful readings ==<br />
<br />
=== Introduction to SLAM ===<br />
* Wikipedia [http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping]<br />
* IEEE Slam tutorials<br />
** Simultaneous Localization and Mapping: Part I [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1638022&userType=inst]<br />
** Simultaneous Localization and Mapping: Part II [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1678144]<br />
<br />
* The SSS06 (SLAM Summer School) pages, refer to "lectures" and "Practicals" [http://www.robots.ox.ac.uk/~SSS06/Website/index.html]<br />
* The BMVC 2007 tutorials [http://www.cs.bris.ac.uk/Research/Vision/Realtime/bmvctutorial/]<br />
* Joan Solà have an on line course on SLAM [http://homepages.laas.fr/jsola/JoanSola/eng/course.html here]. It's based on a Matlab toolbox developed by Solà (http://homepages.laas.fr/jsola/JoanSola/eng/toolbox.html)<br />
<br />
==== EKF ====<br />
* Probabilistic Robotics [http://robots.stanford.edu/probabilistic-robotics/]<br />
<br />
==== Computer Vision ====<br />
* Computer Vision: Algorithms and Applications [http://szeliski.org/Book/]<br />
A freely available book about Computer Vision. Some chapters are dedicated to features recognition. <br />
<br />
==== Useful Materials ====<br />
* Joan Solà materials on quaternions [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/kinematics.pdf], EKF mathematics for SLAM [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/FisslamNotes.pdf] and PhD Thesis [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]<br />
<br />
=== Some thesis (Bachelor, MS or PhD) ===<br />
* Visual<br />
** Migliore Davide (PhD) []<br />
** MarzoratiDaniele (PhD) []<br />
** RigamontiRoberto (MS) []<br />
** Joan Solà (Phd) [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]<br />
<br />
* Laser<br />
** [[User:MauroBrenna|Mauro Brenna]] []<br />
** [[User:MladenMazuran|Mladen Mazuran]] &amp; [[User:MatteoLuperto|Matteo Luperto]] (Bachelor) []<br />
<br />
* Computer Vision<br />
** MassimoQuadrana (Bachelor) []<br />
<br />
* CI-Slam<br />
** Pedro Piniés Rodriguez (Phd) [http://robots.unizar.es/data/documentos/PedroPiniesThesis.pdf]<br />
<br />
== How to compile ==<br />
On a "clean" Ubuntu 10.04.2 32bit installation, first of all, you need to install these packages:<br />
* <code>subversion cmake g++ doxygen</code><br />
Then you have to install all the libraries required<br />
by moonSlam:<br />
* <code>liblog4cpp5-dev libxml++2.6-dev libpng3-dev libboost-all-dev</code><br />
<br />
<br />
moonSlam requires packages that are not available in Ubuntu standard repositories: <br />
*libconfig++1.4.6<br />
Download it from [http://www.hyperrealm.com/main.php?s=libconfig here]<br />
and then install it, following the instructions written in INSTALL file.<br />
* Eigen 3.0 library<br />
Download it from [http://eigen.tuxfamily.org/index.php?title=3.0_beta here]<br />
and then install it, following the instructions written in INSTALL file.<br />
* Opencv 2.2<br />
Download it from [http://opencv.willowgarage.com here]<br />
and then install it, following the instruction written [http://opencv.willowgarage.com/wiki/InstallGuide here].<br />
<br />
Opencv2.2 needs eigen2 library. Before compiling it, install eigen2 library (<code>apt-get install libeigen2-dev</code>).<br />
<br />
You need also mrpt from the svn<br />
svn checkout http://mrpt.googlecode.com/svn/trunk/ mrpt-read-only<br />
cd mrpt-read-only/<br />
mkdir build<br />
cd build/<br />
cmake ..<br />
make<br />
sudo make install<br />
Now you can compile moonSlam.<br />
* open a shell inside trunk folder<br />
* <code>mkdir build <br> cd build </code><br />
* now you can make one of these folder<br />
** <code>Debug</code><br />
** <code>Release</code><br />
** <code>RelWithDebInfo</code><br />
** <code>MinSizeRel</code><br />
* cd in the created folder (e.g. <code>cd Debug</code>)<br />
* <code>cmake ../..</code><br />
* <code>make</code><br />
If everything goes fine, compiled binaries and libraries will be<br />
written inside trunk/build/<yourChoice> folder (keeping trunk folder "clean").<br />
<br />
'''Note:''' performance, executable size and other aspects depends on the choosen build configuration. See the CMakeLists.txt file to know which compilations flags are used.<br />
<br />
'''Note(2):''' MoonSlam compile with the libconfig++ proposed in Ubuntu repository, but some configuration files use the @include directive, that is supported by the libconfig++1.4.6.<br />
<br />
== Create the documentation ==<br />
go in the base folder (e.g. trunk) and type<br />
<code>doxygen <LibraryName>.doxyfile</code><br />
<br />
you will find documentation in doc/<LibraryName>/html folder<br />
<br />
for each library<br />
<br />
== Links ==<br />
[http://www.doc.ic.ac.uk/~ajd/ Andrew Davison home page]<br />
<br />
[http://homepages.laas.fr/jsola/JoanSola/eng/JoanSola.html Joan Solà home page]<br />
<br />
[http://robots.unizar.es/html/home.php Robotics, Perception and Real Time group, Zaragoza]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=MoonSlam&diff=15918MoonSlam2013-02-28T09:34:00Z<p>SimoneCeriani: /* Goal */</p>
<hr />
<div>{{Project<br />
|title=moonSlam<br />
|coordinator=MatteoMatteucci<br />
|tutor=SimoneCeriani;<br />
|students=VincenzoRizzo;RobertoBacciocchi; AntonioBianchi; MladenMazuran; MatteoLuperto; AngeloZuffiano;<br />
|resarea=Computer Vision and Image Analysis<br />
|start=2010/06/30<br />
|status=Active<br />
}}<br />
== PhD Thesis ==<br />
Simone Ceriani PhD Thesis, download here<br />
<br />
<br />
== Goal ==<br />
The aim of the moonSlam project is to create a generic software framework for SLAM (Simultaneous Localization And Mapping).<br />
<br />
== Motivation ==<br />
<br />
== Download ==<br />
<br />
Use the DEI svn system (you need a valid account):<br />
<br />
* cd in your workspace directory<br />
* to download all the project: <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/</code><br />
* to download only the "trunk": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/trunk/</code><br />
* to download only a "tag": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/<tagname>/</code><br />
** (you can know all the tags by <code>svn ls https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/</code>)<br />
<br />
Use --username <username> after the svn command if you neeed to specify your username and password<br />
<br />
== SVN principal commands ==<br />
Check this, seems to be a good tutorial: [[http://svnbook.red-bean.com/en/1.4/svn.tour.cycle.html]]<br />
* do <code>svn up</code> or <code>svn update</code> to check the status of repository<br />
* with <code>svn add</code> you can add the unversioned elements (it is recursive)<br />
* with <code>svn stat</code> you can check your svn status<br />
* with <code>svn ci -m"comments"</code> you can checkin your files<br />
<br />
===How to says to svn that some folders or files has to be ignored===<br />
This is the common situtation<br />
* you want to avoid the versioning of .settings, build and doc folder (that are shown with a '?' in the svn stat result)<br />
* do <code>svn propedit .</code><br />
* add in the editor (nano, vim or something similar) the folders or files that you want to ignore (one per line).<br />
* run <code>svn stat</code>, the '?' should disappear, because the elements are ignored.<br />
<br />
== Useful readings ==<br />
<br />
=== Introduction to SLAM ===<br />
* Wikipedia [http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping]<br />
* IEEE Slam tutorials<br />
** Simultaneous Localization and Mapping: Part I [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1638022&userType=inst]<br />
** Simultaneous Localization and Mapping: Part II [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1678144]<br />
<br />
* The SSS06 (SLAM Summer School) pages, refer to "lectures" and "Practicals" [http://www.robots.ox.ac.uk/~SSS06/Website/index.html]<br />
* The BMVC 2007 tutorials [http://www.cs.bris.ac.uk/Research/Vision/Realtime/bmvctutorial/]<br />
* Joan Solà have an on line course on SLAM [http://homepages.laas.fr/jsola/JoanSola/eng/course.html here]. It's based on a Matlab toolbox developed by Solà (http://homepages.laas.fr/jsola/JoanSola/eng/toolbox.html)<br />
<br />
==== EKF ====<br />
* Probabilistic Robotics [http://robots.stanford.edu/probabilistic-robotics/]<br />
<br />
==== Computer Vision ====<br />
* Computer Vision: Algorithms and Applications [http://szeliski.org/Book/]<br />
A freely available book about Computer Vision. Some chapters are dedicated to features recognition. <br />
<br />
==== Useful Materials ====<br />
* Joan Solà materials on quaternions [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/kinematics.pdf], EKF mathematics for SLAM [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/FisslamNotes.pdf] and PhD Thesis [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]<br />
<br />
=== Some thesis (Bachelor, MS or PhD) ===<br />
* Visual<br />
** Migliore Davide (PhD) []<br />
** MarzoratiDaniele (PhD) []<br />
** RigamontiRoberto (MS) []<br />
** Joan Solà (Phd) [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]<br />
<br />
* Laser<br />
** [[User:MauroBrenna|Mauro Brenna]] []<br />
** [[User:MladenMazuran|Mladen Mazuran]] &amp; [[User:MatteoLuperto|Matteo Luperto]] (Bachelor) []<br />
<br />
* Computer Vision<br />
** MassimoQuadrana (Bachelor) []<br />
<br />
* CI-Slam<br />
** Pedro Piniés Rodriguez (Phd) [http://robots.unizar.es/data/documentos/PedroPiniesThesis.pdf]<br />
<br />
== How to compile ==<br />
On a "clean" Ubuntu 10.04.2 32bit installation, first of all, you need to install these packages:<br />
* <code>subversion cmake g++ doxygen</code><br />
Then you have to install all the libraries required<br />
by moonSlam:<br />
* <code>liblog4cpp5-dev libxml++2.6-dev libpng3-dev libboost-all-dev</code><br />
<br />
<br />
moonSlam requires packages that are not available in Ubuntu standard repositories: <br />
*libconfig++1.4.6<br />
Download it from [http://www.hyperrealm.com/main.php?s=libconfig here]<br />
and then install it, following the instructions written in INSTALL file.<br />
* Eigen 3.0 library<br />
Download it from [http://eigen.tuxfamily.org/index.php?title=3.0_beta here]<br />
and then install it, following the instructions written in INSTALL file.<br />
* Opencv 2.2<br />
Download it from [http://opencv.willowgarage.com here]<br />
and then install it, following the instruction written [http://opencv.willowgarage.com/wiki/InstallGuide here].<br />
<br />
Opencv2.2 needs eigen2 library. Before compiling it, install eigen2 library (<code>apt-get install libeigen2-dev</code>).<br />
<br />
You need also mrpt from the svn<br />
svn checkout http://mrpt.googlecode.com/svn/trunk/ mrpt-read-only<br />
cd mrpt-read-only/<br />
mkdir build<br />
cd build/<br />
cmake ..<br />
make<br />
sudo make install<br />
Now you can compile moonSlam.<br />
* open a shell inside trunk folder<br />
* <code>mkdir build <br> cd build </code><br />
* now you can make one of these folder<br />
** <code>Debug</code><br />
** <code>Release</code><br />
** <code>RelWithDebInfo</code><br />
** <code>MinSizeRel</code><br />
* cd in the created folder (e.g. <code>cd Debug</code>)<br />
* <code>cmake ../..</code><br />
* <code>make</code><br />
If everything goes fine, compiled binaries and libraries will be<br />
written inside trunk/build/<yourChoice> folder (keeping trunk folder "clean").<br />
<br />
'''Note:''' performance, executable size and other aspects depends on the choosen build configuration. See the CMakeLists.txt file to know which compilations flags are used.<br />
<br />
'''Note(2):''' MoonSlam compile with the libconfig++ proposed in Ubuntu repository, but some configuration files use the @include directive, that is supported by the libconfig++1.4.6.<br />
<br />
== Create the documentation ==<br />
go in the base folder (e.g. trunk) and type<br />
<code>doxygen <LibraryName>.doxyfile</code><br />
<br />
you will find documentation in doc/<LibraryName>/html folder<br />
<br />
for each library<br />
<br />
== Links ==<br />
[http://www.doc.ic.ac.uk/~ajd/ Andrew Davison home page]<br />
<br />
[http://homepages.laas.fr/jsola/JoanSola/eng/JoanSola.html Joan Solà home page]<br />
<br />
[http://robots.unizar.es/html/home.php Robotics, Perception and Real Time group, Zaragoza]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Talk:LURCH_-_The_autonomous_wheelchair&diff=15617Talk:LURCH - The autonomous wheelchair2012-10-30T14:40:17Z<p>SimoneCeriani: /* Software Installation [TODO: complete] */</p>
<hr />
<div>=D-Link router=<br />
ip: 192.168.0.1<br/><br />
User: admin<br/><br />
Pass: pcbriccone<br/><br />
(NOTE. Default settings are: admin, no password)<br />
<br />
mac-address clonato all'interfaccia esterna: 00-40-63-eb-d1-a1 (pcbrick-03) <br/><br />
<br />
==Wireless==<br />
SSID: airlab<br/><br />
channel: 6<br/><br />
WPA2 PSK: pcbriccone<br/><br />
<br />
==Fixed IPs==<br />
pcbrick-one 192.168.0.5 00-40-63-eb-d2-a2 <br/><br />
pcbrick-03 192.168.0.3 00-40-63-eb-d1-a1 <br/><br />
simone-desktop 192.168.0.1 00-02-72-52-04-a1 <br/><br />
pcbrick-one 192.168.0.5 00-30-18-a2-aa-8e <br/><br />
simone-laptop 192.168.0.2 00-1f-3c-9c-66-f1 <br/><br />
<br />
=Planner=<br />
MSL library soruce + PQP source: [[Media:MSL.zip]]<br />
compiled on Ubuntu 8.10 with gcc 4.3.2<br />
<br />
=Software Installation [TODO: complete]=<br />
This guide is tested on Ubuntu 8.10, 9.04 and Xubuntu 8.10. GCC version in 4.3.<br />
<br />
* Install the following packages:<br />
** qt3-dev-tools<br />
** qt4-dev-tools<br />
** build-essential<br />
** flex<br />
** bison<br />
** libjsw-dev<br />
** libboost-dev<br />
** libdc1394-13-dev<br />
** libgsl0-dev<br />
** libgtk2.0-dev<br />
** libncurses5-dev<br />
<br />
If you want you can cut and paste this command line:<br />
sudo apt-get install ...<br />
<br />
* Download this file: [TODO], which contains ARToolKitPlus Libraries<br />
<br />
** unpack it in /opt folder<br />
** go into /opt/ARToolKitPlus_2.1.1<br />
** export ARTKP=/opt/ARToolKitPlus_2.1.1<br />
** qmake<br />
** make<br />
** sudo make install<br />
<br />
* download lurch-control.tar.gz<br />
** extract it in your home folder<br />
** make cleanall<br />
** make ROBOT=wheelchair MODULE=misc<br />
** make ROBOT=wheelchair MODULE=fuzzy<br />
** make ROBOT=wheelchair<br />
** cd wheelchair<br />
** ln -s ../logExtract.sh ./<br />
** ln -s ../run.sh ./ <br />
<br />
* download lurch-wheelchair-standalone.tar.gz <br />
** extract it in your home folder<br />
** go into lurch-wheelchair-standalone/config<br />
** edit config.ini<br />
*** replace line with hostname=airlab-blackbox with hostname=<yourhostname><br />
** edit agent.ini<br />
*** find and replace all "airlab-blackbox" with <yourhostname><br />
<br />
* download the server for simulation (you need sun-java6-jdk installed and Eclipse is suggested)<br />
...<br />
<br />
* from lurch-wheelchair-standalone<br />
** sudo ./run.sh<br />
<br />
= Timeline =<br />
Breve riassunto dello stato attuale di Lurch, e delle ultime modifiche:<br />
<br />
2012/07/10: <br />
- corretto un errore in una shape fuzzy (qualità della speed) e allo stesso tempo aumentato la soglia entro la quale la quality speed è definita "good" e "very good", allontanando la "medium" e "bad"<br />
- cambiato una soglia sulla distanza minima letta dai sonar: i sonar hanno come valore nominale minimo 142mm, però due di essi (quelli a sinistra) con il sole (vai a capire perchè ma la causa sembra quella) leggono sempre 142... abbiamo impostato nel "sonarExpert" di scartare valori inferiori (o <=, non sono sicuro) a 0.143 metri.... barbatrucco un po' rischioso, ma efficace<br />
- cambiata la soglia di raggiungimento via point e passaggio al successivo da 0.4m a 0.5m, per rendere più fluido il movimento<br />
<br />
la storia precedente...<br />
lo sviluppo sw di lurch è fermo a settembre 2009 [demo e prove a Simpatia - agosto/settembre 2009] con pochissime revisioni per Robotica 2009 a novembre<br />
dal punto di vista hw nel 2010 è stato fatto da Giulio e Davide quello che chiamiamo "restyling", in quanto non è cambiato nulla dal punto di vista funzionale (stessi sensori, stesso hw per tutto, solo posizionato diversamente) a valle del quale il sw è stato riadattato, ma le modifiche sw sono state proprio poche, soprattutto sono state configurazione delle nuove posizioni dei sensori. Le cose che vedo più sostanziali relative a ciò sono state:<br />
- passagggio da due pcbrick (di cui uno con cpu via - i pc brick originali - e uno con dual core - il cosidetto pcbriccone - su cui erano distribuiti gli agenti running) ad un solo (il pcbriccone). Da quel momento non sono più stati aggiornati i driver del touch screen (che tuttora non è funzionante) e il sw gira tutto su un pc solo, mentre prima era distribuito<br />
- è stata sostituita la camera firewire (fire i 400) con una ethernet (prosilica) e di conseguenza aggiunto un pezzo sw per leggere dalle api prosilica e non da firewire<br />
<br />
=Available Documentation=<br />
<br />
- Documentation on the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitDocument.pdf]].<br />
<br />
- '''WARNING''': the circuit was modified and the documentation above is upgraded by this new file: [[Media:LurchXBee.pdf]].<br />
<br />
- How to modify the wheelchair joystick to connect to the interface circuit: [[Media:LurchCircuitJoystick.pdf]].<br />
<br />
- Brief discussion about the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitJoystickBrief.pdf]].<br />
<br />
- Brief description of the LURCH project: [[Media:LurchBriefDesc.pdf]].<br />
<br />
- Brief description of the communication between the wheelchair interface circuit and a PC via RS232 port: [[Media:LurchProtocol.pdf]].<br />
<br />
- Source code for PIC 18F452 microprocessor and Eagle project (schematic and board): [[Media:LurchCircuitProject.zip]].<br />
<br />
- Battery replacement done on May 2009, description of work: [[Media:LurchBatteryReplacement.pdf]].<br />
<br />
- Thesis by Simone Ceriani, titled ''Sviluppo di una carrozzina autonoma d'ausilio ai disabili motori'' (Development of an autonomous wheelchair to help motor-disabled persons): [[Media:LurchThesisCeriani.pdf]] (in Italian)<br />
<br />
- Thesis presentation by Simone Ceriani (note: Videos don't work, you can found similar videos below): [[Media:LurchPresentazioneThesisCeriani.zip]]<br />
<br />
- Thesis by Marco Dalli, titled ''Sviluppo di un sistema di controllo basato su odometria per una carrozzina robotica'' (Development of a control system based on odometry for a robotic wheelchair): [[Media:LurchThesisDalli.pdf]] (in Italian)<br />
<br />
- Thesis presentation by Marco Dalli: [[Media:LurchPresentazioneThesisDalli.zip]]<br />
<br />
- Thesis by Marco Assini, titled ''Sviluppo di un pianificatore di percorsi geometrici per una carrozzina autonoma'' (Development of a geometric path planner for an autonomous wheelchair): [[Media:LurchThesisAssini.pdf]] (in Italian)<br />
<br />
- Thesis presentation by Marco Assini (the file contains a ppt version, a pptx, and a simplified pdf version without animation): [[Media:LurchPresentazioneThesisAssini.zip]]<br />
<br />
- Thesis by Mauro Brenna, titled ''Scan Matching, Covariance Estimation and SLAM: Models and Solution for the scanSLAM Algorithm'': [[Media:MauroBrennaMastersThesis2010.pdf]] (in English)<br />
<br />
<br />
- Pdf with ArtoolKitPlus Fiducial Markers collection. Dimension are 160x160mm. [[Media:ArtoolKitPlusMarkers-160mm.pdf.zip]]<br />
<br />
=PCBricks Configuration=<br />
PCBrick-03 and PCBrick-05 feature Xubuntu Linux 7.10, Xfce Window Manager, Openchrome graphics drivers and eGalax touchscreen drivers v1.08.1227 (Drivers [http://210.64.17.162/web20/TouchKitDriver/linuxDriver.htm here]).<br />
The touchscreen is configured and calibrated on both machines, hence it can be used with either one or the other indifferently.<br />
<br />
=Electronics development=<br />
We are currently designing a new electronic main board for the wheelchair.<br />
<br />
The idea is to base the whole system on a CANbus, allowing a complete modularization of the on-board electronics.<br />
<br />
[[Lurch_electronics_development|Read more on this topics here...]]<br />
<br />
<br />
=Software development=<br />
* Try a different sw architecture, now we are examinating orocos [http://www.orocos.org]<br />
* Integrate Marco Assini's thesis (RRT planning) with current release<br />
* Develop an improved navigation system [[Navigation_system_for_LURCH|Read more on this topics here...]]<br />
<br />
=People Involved=<br />
<br />
[[User:AndreaBonarini|Andrea Bonarini]]<br />
<br />
[[User:MatteoMatteucci|Matteo Matteucci]]<br />
<br />
[[User:DavideMigliore|Davide Migliore]]<br />
<br />
[[User:GiulioFontana|Giulio Fontana]]<br />
<br />
[[User:BernardoDalSeno|Bernardo Dal Seno]]<br />
<br />
[[User:MarcoDalli|Marco Dalli]] (ex-Tesista)<br />
<br />
[[User:SimoneCeriani|Simone Ceriani]] (Dottorando)<br />
<br />
[[User:MatteoRossi|Matteo Rossi]] (ex- Tesista)<br />
<br />
[[User:MarcoAssini|Marco Assini]] (ex-Tesista)<br />
<br />
[[User:MauroBrenna|Mauro Brenna]] (Tesista)<br />
<br />
[[User:DiegoConsolaro|Diego Consolaro]] (ex-Tesista)</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-ceriani-ese-06-handout.pdf.zip&diff=15237File:Robotics-ceriani-ese-06-handout.pdf.zip2012-06-20T16:06:27Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-matlab-06.zip&diff=15236File:Robotics-matlab-06.zip2012-06-20T16:04:59Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15235Robotics Teaching Assistant lectures (Como)2012-06-20T16:01:54Z<p>SimoneCeriani: /* 6th lecture */</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
The latex sources and Matlab code are also available on the svn <br />
<br />
<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code><br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
<br />
Download all videos from here [ftp://ftp.dei.polimi.it/users/Simone.Ceriani/Robotics/2011-2012/videos/] and place them in a folder named "videos" in the same folder of the slide file<br />
<br />
Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-02.zip]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-03.zip]]<br />
<br />
==4th lecture==<br />
* Mobile robot localization<br />
* Taxonomy of localization problems<br />
* Probability recall<br />
* Bayes formula and bayes filter<br />
* Markov Localization<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-04.zip]]<br />
<br />
==5th lecture==<br />
* Kalman Filter<br />
* Kalman Filter example: falling body<br />
* Extended Kalman filter<br />
* Extended Kalman filter localization<br />
* Correspondances, data association and Mahalanobis distance<br />
* Qualitative introduction to Monte Carlo Localization and Particle filters<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-05.zip]]<br />
<br />
==6th lecture==<br />
* Introduction to SLAM<br />
* EKF-SLAM: motion model, addition, measurement<br />
* Data associaton: Examples with JCBB<br />
* Visual SLAM & Monocular SLAM<br />
* Large scale SLAM issues<br />
* Some videos...<br />
* SLAM with OmniDirectionalCamera<br />
* PTAM, Laser based SLAM<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-06-anim.pdf.zip]]<br />
<br />
Download all videos from here [ftp://ftp.dei.polimi.it/users/Simone.Ceriani/Robotics/2011-2012/videos/] and place them in a folder named "videos" in the same folder of the slide file<br />
<br />
Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-06-handout.pdf.zip]]<br />
<br />
Matlab code [[File:Robotics-matlab-06.zip]] (this material is from [http://www.robots.ox.ac.uk/~SSS06/Website/index.html])</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-ceriani-ese-06-anim.pdf.zip&diff=15234File:Robotics-ceriani-ese-06-anim.pdf.zip2012-06-20T16:01:21Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15233Robotics Teaching Assistant lectures (Como)2012-06-20T15:55:59Z<p>SimoneCeriani: /* 2nd lecture */</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
The latex sources and Matlab code are also available on the svn <br />
<br />
<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code><br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
<br />
Download all videos from here [ftp://ftp.dei.polimi.it/users/Simone.Ceriani/Robotics/2011-2012/videos/] and place them in a folder named "videos" in the same folder of the slide file<br />
<br />
Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-02.zip]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-03.zip]]<br />
<br />
==4th lecture==<br />
* Mobile robot localization<br />
* Taxonomy of localization problems<br />
* Probability recall<br />
* Bayes formula and bayes filter<br />
* Markov Localization<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-04.zip]]<br />
<br />
==5th lecture==<br />
* Kalman Filter<br />
* Kalman Filter example: falling body<br />
* Extended Kalman filter<br />
* Extended Kalman filter localization<br />
* Correspondances, data association and Mahalanobis distance<br />
* Qualitative introduction to Monte Carlo Localization and Particle filters<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-05.zip]]<br />
<br />
==6th lecture==<br />
* Introduction to SLAM<br />
* EKF-SLAM: motion model, addition, measurement<br />
* Data associaton: Examples with JCBB<br />
* Visual SLAM & Monocular SLAM<br />
* Large scale SLAM issues<br />
* Some videos...<br />
* SLAM with OmniDirectionalCamera<br />
* PTAM, Laser based SLAM<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-06-anim.pdf]]<br />
<br />
Download all videos from here [ftp://ftp.dei.polimi.it/users/Simone.Ceriani/Robotics/2011-2012/videos/] and place them in a folder named "videos" in the same folder of the slide file<br />
<br />
Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-06-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-06.zip]] (this material is from [http://www.robots.ox.ac.uk/~SSS06/Website/index.html])</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15232Robotics Teaching Assistant lectures (Como)2012-06-20T15:55:47Z<p>SimoneCeriani: /* 6th lecture */</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
The latex sources and Matlab code are also available on the svn <br />
<br />
<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code><br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-02.zip]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-03.zip]]<br />
<br />
==4th lecture==<br />
* Mobile robot localization<br />
* Taxonomy of localization problems<br />
* Probability recall<br />
* Bayes formula and bayes filter<br />
* Markov Localization<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-04.zip]]<br />
<br />
==5th lecture==<br />
* Kalman Filter<br />
* Kalman Filter example: falling body<br />
* Extended Kalman filter<br />
* Extended Kalman filter localization<br />
* Correspondances, data association and Mahalanobis distance<br />
* Qualitative introduction to Monte Carlo Localization and Particle filters<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-05.zip]]<br />
<br />
==6th lecture==<br />
* Introduction to SLAM<br />
* EKF-SLAM: motion model, addition, measurement<br />
* Data associaton: Examples with JCBB<br />
* Visual SLAM & Monocular SLAM<br />
* Large scale SLAM issues<br />
* Some videos...<br />
* SLAM with OmniDirectionalCamera<br />
* PTAM, Laser based SLAM<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-06-anim.pdf]]<br />
<br />
Download all videos from here [ftp://ftp.dei.polimi.it/users/Simone.Ceriani/Robotics/2011-2012/videos/] and place them in a folder named "videos" in the same folder of the slide file<br />
<br />
Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-06-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-06.zip]] (this material is from [http://www.robots.ox.ac.uk/~SSS06/Website/index.html])</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15231Robotics Teaching Assistant lectures (Como)2012-06-20T15:55:19Z<p>SimoneCeriani: /* 6th lecture */</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
The latex sources and Matlab code are also available on the svn <br />
<br />
<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code><br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-02.zip]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-03.zip]]<br />
<br />
==4th lecture==<br />
* Mobile robot localization<br />
* Taxonomy of localization problems<br />
* Probability recall<br />
* Bayes formula and bayes filter<br />
* Markov Localization<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-04.zip]]<br />
<br />
==5th lecture==<br />
* Kalman Filter<br />
* Kalman Filter example: falling body<br />
* Extended Kalman filter<br />
* Extended Kalman filter localization<br />
* Correspondances, data association and Mahalanobis distance<br />
* Qualitative introduction to Monte Carlo Localization and Particle filters<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-05.zip]]<br />
<br />
==6th lecture==<br />
* Introduction to SLAM<br />
* EKF-SLAM: motion model, addition, measurement<br />
* Data associaton: Examples with JCBB<br />
* Visual SLAM & Monocular SLAM<br />
* Large scale SLAM issues<br />
* Some videos...<br />
* SLAM with OmniDirectionalCamera<br />
* PTAM, Laser based SLAM<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-06-anim.pdf]]<br />
Download all videos from here [ftp://ftp.dei.polimi.it/users/Simone.Ceriani/Robotics/2011-2012/videos/] and place them in a folder named "videos" in the same folder of the slide file<br />
Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-06-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-06.zip]] (this material is from [http://www.robots.ox.ac.uk/~SSS06/Website/index.html])</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Localization.flv.zip&diff=15230File:Localization.flv.zip2012-06-20T15:39:55Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15229Robotics Teaching Assistant lectures (Como)2012-06-20T15:39:21Z<p>SimoneCeriani: </p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
The latex sources and Matlab code are also available on the svn <br />
<br />
<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code><br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-02.zip]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-03.zip]]<br />
<br />
==4th lecture==<br />
* Mobile robot localization<br />
* Taxonomy of localization problems<br />
* Probability recall<br />
* Bayes formula and bayes filter<br />
* Markov Localization<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-04.zip]]<br />
<br />
==5th lecture==<br />
* Kalman Filter<br />
* Kalman Filter example: falling body<br />
* Extended Kalman filter<br />
* Extended Kalman filter localization<br />
* Correspondances, data association and Mahalanobis distance<br />
* Qualitative introduction to Monte Carlo Localization and Particle filters<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-05.zip]]<br />
<br />
==6th lecture==<br />
* Introduction to SLAM<br />
* EKF-SLAM: motion model, addition, measurement<br />
* Data associaton: Examples with JCBB<br />
* Visual SLAM & Monocular SLAM<br />
* Large scale SLAM issues<br />
* Some videos...<br />
* SLAM with OmniDirectionalCamera<br />
* PTAM, Laser based SLAM<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-06-anim.pdf]]<br />
Videos:<br />
* [[File:]]<br />
* [[File:]]<br />
* [[File:]]<br />
Note: Some videos are missed due to limits of upload of this wiki, you can download them directly from youtube, links are on the slides.<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-06-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-06.zip]] (this material is from [http://www.robots.ox.ac.uk/~SSS06/Website/index.html])</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15228Robotics Teaching Assistant lectures (Como)2012-06-20T15:37:34Z<p>SimoneCeriani: </p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
The latex sources and Matlab code are also available on the svn <br />
<br />
<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code><br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-02.zip]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-03.zip]]<br />
<br />
==4th lecture==<br />
* Mobile robot localization<br />
* Taxonomy of localization problems<br />
* Probability recall<br />
* Bayes formula and bayes filter<br />
* Markov Localization<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-04.zip]]<br />
<br />
==5th lecture==<br />
* Kalman Filter<br />
* Kalman Filter example: falling body<br />
* Extended Kalman filter<br />
* Extended Kalman filter localization<br />
* Correspondances, data association and Mahalanobis distance<br />
* Qualitative introduction to Monte Carlo Localization and Particle filters<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-05.zip]]<br />
<br />
==6th lecture==<br />
* Introduction to SLAM<br />
* EKF-SLAM: motion model, addition, measurement<br />
* Data associaton: Examples with JCBB<br />
* Visual SLAM & Monocular SLAM<br />
* Large scale SLAM issues<br />
* Some videos...<br />
* SLAM with OmniDirectionalCamera<br />
* PTAM, Laser based SLAM<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-06-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-06-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-06.zip]] (this material is from [http://www.robots.ox.ac.uk/~SSS06/Website/index.html])</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15088Robotics Teaching Assistant lectures (Como)2012-06-08T08:54:19Z<p>SimoneCeriani: </p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
The latex sources and Matlab code are also available on the svn <br />
<br />
<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code><br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-02.zip]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-03.zip]]<br />
<br />
==4th lecture==<br />
* Mobile robot localization<br />
* Taxonomy of localization problems<br />
* Probability recall<br />
* Bayes formula and bayes filter<br />
* Markov Localization<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-04.zip]]<br />
<br />
==5th lecture==<br />
* Kalman Filter<br />
* Kalman Filter example: falling body<br />
* Extended Kalman filter<br />
* Extended Kalman filter localization<br />
* Correspondances, data association and Mahalanobis distance<br />
* Qualitative introduction to Monte Carlo Localization and Particle filters<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-05.zip]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Courses&diff=15087Courses2012-06-08T08:26:45Z<p>SimoneCeriani: /* Laurea Triennale courses */</p>
<hr />
<div>==Laurea Triennale courses==<br />
<br />
* [http://home.dei.polimi.it//colombet/IC/index.html Ingegneria della Conoscenza], M. Colombetti<br />
* [http://chrome.ws.dei.polimi.it/index.php/SC:Knowledge_Engineering Knowledge Engineering], Matteo Matteucci (Como)<br />
* [http://www.laureaonline.polimi.it/corsi/corso_3f_intelligenza.html Intelligenza Artificiale (laurea Online)] Andrea Bonarini<br />
* [http://home.dei.polimi.it/gini/robot/lezioni.htm Robotica], G. Gini<br />
* [http://home.dei.polimi.it/restelli/MyWebSite/teaching_robotica.shtml Robotica], M. Restelli (Como) - ([[Robotics Teaching Assistant lectures (Como)|Teaching assistant lectures]])<br />
<br />
==Laurea magistrale (master) courses==<br />
<br />
* [http://home.dei.polimi.it/gini/robot/lezionir2.htm Robotica 2], G. Gini<br />
* [http://home.dei.polimi.it/bonarini/Didattica/SoftComputing/index.html Soft Computing], A. Bonarini<br />
* [http://home.dei.polimi.it/schiaffo/TFI Corso di temi filosofici dell'informatica ], V. Schiaffonati<br />
* [http://home.dei.polimi.it/schiaffo/TFIS Corso di temi filosofici dell'ingegneria e della scienza ], V. Schiaffonati (Ing. Matematica)<br />
* [http://home.dei.polimi.it/amigoni/IntelligenzaArtificiale.html Intelligenza Artificiale], F. Amigoni<br />
* [http://home.dei.polimi.it/amigoni/AgentiAutonomiESistemiMultiagente.html Agenti Autonomi e Sistemi Multiagente], F. Amigoni<br />
* [http://webspace.elet.polimi.it/lanzi/?page_id=15 Laboratory of Artificial Intelligence & Robotics], P. L. Lanzi<br />
* [http://webspace.elet.polimi.it/lanzi/?page_id=106 Data Mining and Text Mining], P. L. Lanzi<br />
* [[Image Analysis and Synthesis]], V. Caglioti<br />
* [http://chrome.ws.dei.polimi.it/index.php/Pattern_Analysis_and_Machine_Intelligence Pattern Analysis and Machine Intelligence], M. Matteucci (Como)<br />
<br />
<br />
From 2010-2011 a [http://ccs-informatica.ws.dei.polimi.it/index.php?option=com_content&view=article&id=59&Itemid=68 new organization of courses] for master thesis has been devised, and two suggested tracks have been dedicated to [http://ccs-informatica.ws.dei.polimi.it/index.php?option=com_content&view=article&id=64&Itemid=68 Artificial Intelligence] and [http://ccs-informatica.ws.dei.polimi.it/index.php?option=com_content&view=article&id=65&Itemid=68 Robotics and Vision] among the ones proposed for Computer Engineering.<br />
<br />
==PhD courses==<br />
<br />
* [http://chrome.ws.dei.polimi.it/index.php/3D_Structure_From_Visual_Motion 3D Structure from Visual Motion: Novel Techniques in Computer Vision and Autonomous Robots/Vehicles], M. Matteucci, V. Caglioti, M. Marcon 2012<br />
* [http://home.dei.polimi.it/gini/CompChem/ Problems and approaches in Computational Chemistry], G. Gini, 2007/08<br />
* [http://home.dei.polimi.it/ngatti/teach-alggt.htm Algorithmic Game Theory], N. Gatti, M. Restelli, 2008<br />
* [http://intranet.dei.polimi.it/dottorato/dettagli_corso_b.php?id_corso=293 Numerical Geometry of Nonrigid Shapes], Alex & Michael Bronstein, 2007/08<br />
* [http://home.dei.polimi.it/ngatti/teach-cgmda.htm Cooperative Games, Mechanism Design, and Auctions], 2009<br />
* [http://dottorato.dei.polimi.it/dettagli_corso_b_eng.php?id_corso=456 Intelligent Multiagent Systems], 2011<br />
* [http://dottorato.dei.polimi.it/dettagli_corso_b_eng.php?id_corso=458 Genetic Algorithms and other evolutionary techniques], 2011<br />
* [http://home.dei.polimi.it/bonarini/Didattica/SC2010 Soft Computing], A. Bonarini, M. Matteucci 2006, 2010, 2012</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Courses&diff=15086Courses2012-06-08T08:23:08Z<p>SimoneCeriani: </p>
<hr />
<div>==Laurea Triennale courses==<br />
<br />
* [http://home.dei.polimi.it//colombet/IC/index.html Ingegneria della Conoscenza], M. Colombetti<br />
* [http://chrome.ws.dei.polimi.it/index.php/SC:Knowledge_Engineering Knowledge Engineering], Matteo Matteucci (Como)<br />
* [http://www.laureaonline.polimi.it/corsi/corso_3f_intelligenza.html Intelligenza Artificiale (laurea Online)] Andrea Bonarini<br />
* [http://home.dei.polimi.it/gini/robot/lezioni.htm Robotica], G. Gini<br />
* [http://home.dei.polimi.it/restelli/MyWebSite/teaching_robotica.shtml Robotica], M. Restelli (Como) [[Robotics Teaching Assistant lectures (Como)|Teaching assistant lectures]]<br />
<br />
==Laurea magistrale (master) courses==<br />
<br />
* [http://home.dei.polimi.it/gini/robot/lezionir2.htm Robotica 2], G. Gini<br />
* [http://home.dei.polimi.it/bonarini/Didattica/SoftComputing/index.html Soft Computing], A. Bonarini<br />
* [http://home.dei.polimi.it/schiaffo/TFI Corso di temi filosofici dell'informatica ], V. Schiaffonati<br />
* [http://home.dei.polimi.it/schiaffo/TFIS Corso di temi filosofici dell'ingegneria e della scienza ], V. Schiaffonati (Ing. Matematica)<br />
* [http://home.dei.polimi.it/amigoni/IntelligenzaArtificiale.html Intelligenza Artificiale], F. Amigoni<br />
* [http://home.dei.polimi.it/amigoni/AgentiAutonomiESistemiMultiagente.html Agenti Autonomi e Sistemi Multiagente], F. Amigoni<br />
* [http://webspace.elet.polimi.it/lanzi/?page_id=15 Laboratory of Artificial Intelligence & Robotics], P. L. Lanzi<br />
* [http://webspace.elet.polimi.it/lanzi/?page_id=106 Data Mining and Text Mining], P. L. Lanzi<br />
* [[Image Analysis and Synthesis]], V. Caglioti<br />
* [http://chrome.ws.dei.polimi.it/index.php/Pattern_Analysis_and_Machine_Intelligence Pattern Analysis and Machine Intelligence], M. Matteucci (Como)<br />
<br />
<br />
From 2010-2011 a [http://ccs-informatica.ws.dei.polimi.it/index.php?option=com_content&view=article&id=59&Itemid=68 new organization of courses] for master thesis has been devised, and two suggested tracks have been dedicated to [http://ccs-informatica.ws.dei.polimi.it/index.php?option=com_content&view=article&id=64&Itemid=68 Artificial Intelligence] and [http://ccs-informatica.ws.dei.polimi.it/index.php?option=com_content&view=article&id=65&Itemid=68 Robotics and Vision] among the ones proposed for Computer Engineering.<br />
<br />
==PhD courses==<br />
<br />
* [http://chrome.ws.dei.polimi.it/index.php/3D_Structure_From_Visual_Motion 3D Structure from Visual Motion: Novel Techniques in Computer Vision and Autonomous Robots/Vehicles], M. Matteucci, V. Caglioti, M. Marcon 2012<br />
* [http://home.dei.polimi.it/gini/CompChem/ Problems and approaches in Computational Chemistry], G. Gini, 2007/08<br />
* [http://home.dei.polimi.it/ngatti/teach-alggt.htm Algorithmic Game Theory], N. Gatti, M. Restelli, 2008<br />
* [http://intranet.dei.polimi.it/dottorato/dettagli_corso_b.php?id_corso=293 Numerical Geometry of Nonrigid Shapes], Alex & Michael Bronstein, 2007/08<br />
* [http://home.dei.polimi.it/ngatti/teach-cgmda.htm Cooperative Games, Mechanism Design, and Auctions], 2009<br />
* [http://dottorato.dei.polimi.it/dettagli_corso_b_eng.php?id_corso=456 Intelligent Multiagent Systems], 2011<br />
* [http://dottorato.dei.polimi.it/dettagli_corso_b_eng.php?id_corso=458 Genetic Algorithms and other evolutionary techniques], 2011<br />
* [http://home.dei.polimi.it/bonarini/Didattica/SC2010 Soft Computing], A. Bonarini, M. Matteucci 2006, 2010, 2012</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15085Robotics Teaching Assistant lectures (Como)2012-06-08T08:19:11Z<p>SimoneCeriani: </p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-02.zip]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-03.zip]]<br />
<br />
==4th lecture==<br />
* Mobile robot localization<br />
* Taxonomy of localization problems<br />
* Probability recall<br />
* Bayes formula and bayes filter<br />
* Markov Localization<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-04.zip]]<br />
<br />
==5th lecture==<br />
* Kalman Filter<br />
* Kalman Filter example: falling body<br />
* Extended Kalman filter<br />
* Extended Kalman filter localization<br />
* Correspondances, data association and Mahalanobis distance<br />
* Qualitative introduction to Monte Carlo Localization and Particle filters<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-05.zip]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-matlab-05.zip&diff=15084File:Robotics-matlab-05.zip2012-06-08T08:19:00Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-matlab-04.zip&diff=15083File:Robotics-matlab-04.zip2012-06-08T08:18:52Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-matlab-03.zip&diff=15082File:Robotics-matlab-03.zip2012-06-08T08:13:54Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15081Robotics Teaching Assistant lectures (Como)2012-06-08T08:12:22Z<p>SimoneCeriani: /* 2nd lecture */</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
Matlab code [[File:Robotics-matlab-02.zip]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
==4th lecture==<br />
* Mobile robot localization<br />
* Taxonomy of localization problems<br />
* Probability recall<br />
* Bayes formula and bayes filter<br />
* Markov Localization<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
==5th lecture==<br />
* Kalman Filter<br />
* Kalman Filter example: falling body<br />
* Extended Kalman filter<br />
* Extended Kalman filter localization<br />
* Correspondances, data association and Mahalanobis distance<br />
* Qualitative introduction to Monte Carlo Localization and Particle filters<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-matlab-02.zip&diff=15080File:Robotics-matlab-02.zip2012-06-08T08:12:02Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15079Robotics Teaching Assistant lectures (Como)2012-06-08T08:02:33Z<p>SimoneCeriani: /* 5th lecture */</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
==4th lecture==<br />
* Mobile robot localization<br />
* Taxonomy of localization problems<br />
* Probability recall<br />
* Bayes formula and bayes filter<br />
* Markov Localization<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
==5th lecture==<br />
* Kalman Filter<br />
* Kalman Filter example: falling body<br />
* Extended Kalman filter<br />
* Extended Kalman filter localization<br />
* Correspondances, data association and Mahalanobis distance<br />
* Qualitative introduction to Monte Carlo Localization and Particle filters<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15078Robotics Teaching Assistant lectures (Como)2012-06-08T08:00:39Z<p>SimoneCeriani: /* 4th lecture */</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
==4th lecture==<br />
* Mobile robot localization<br />
* Taxonomy of localization problems<br />
* Probability recall<br />
* Bayes formula and bayes filter<br />
* Markov Localization<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
==5th lecture==<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15077Robotics Teaching Assistant lectures (Como)2012-06-08T07:57:06Z<p>SimoneCeriani: /* 3th lecture */</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
==4th lecture==<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
==5th lecture==<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15076Robotics Teaching Assistant lectures (Como)2012-06-08T07:56:14Z<p>SimoneCeriani: /* 3th lecture */</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
==3th lecture==<br />
* Pin hole model recall<br />
* Projection Matrix <br />
* Interpretation line<br />
* Image of origin and vanishing points <br />
* Angle of view<br />
* Radial and tangential distortion model<br />
* Camera calibration (Matlab Camera Calibration Toolbox [http://http://www.vision.caltech.edu/bouguetj/calib_doc/])<br />
* Epipolar geometry<br />
* Fundamental matrix<br />
* Features in image<br />
* Thresholding, Filtering, Smoothing, Gradient<br />
* Canny edge detector<br />
* Hough transformation for lines extraction<br />
* Corners<br />
* Template matching: patches and SIFT<br />
* Final Exercize on Camera Geometry<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
==4th lecture==<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
==5th lecture==<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15075Robotics Teaching Assistant lectures (Como)2012-06-08T07:46:18Z<p>SimoneCeriani: </p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==1st lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==2nd lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
==3th lecture==<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]<br />
<br />
==4th lecture==<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]<br />
<br />
==5th lecture==<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-ceriani-ese-05-handout.pdf&diff=15074File:Robotics-ceriani-ese-05-handout.pdf2012-06-08T07:44:40Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-ceriani-ese-05-anim.pdf&diff=15073File:Robotics-ceriani-ese-05-anim.pdf2012-06-08T07:44:15Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-ceriani-ese-04-handout.pdf&diff=15072File:Robotics-ceriani-ese-04-handout.pdf2012-06-08T07:43:58Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-ceriani-ese-04-anim.pdf&diff=15071File:Robotics-ceriani-ese-04-anim.pdf2012-06-08T07:43:40Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15070Robotics Teaching Assistant lectures (Como)2012-06-08T07:42:55Z<p>SimoneCeriani: </p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==First lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==Second lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]<br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]<br />
<br />
==Third lecture==<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15069Robotics Teaching Assistant lectures (Como)2012-06-08T07:42:02Z<p>SimoneCeriani: /* Second lecture */</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==First lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==Second lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]], <br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15068Robotics Teaching Assistant lectures (Como)2012-06-08T07:41:46Z<p>SimoneCeriani: /* Second lecture */</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==First lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==Second lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]], <br />
Videos:<br />
* [[File:Flagellazione_camera.mpg.zip]]<br />
* [[File:Hutme_camera.mpg.zip]]<br />
* [[File:Trinity.sb.mpg.zip]]<br />
To see videos in the presentation you have to download them into a folder named "videos" in the same folder of the slide file<br />
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Trinity.sb.mpg.zip&diff=15065File:Trinity.sb.mpg.zip2012-06-08T07:39:59Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Hutme_camera.mpg.zip&diff=15064File:Hutme camera.mpg.zip2012-06-08T07:39:35Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Flagellazione_camera.mpg.zip&diff=15063File:Flagellazione camera.mpg.zip2012-06-08T07:39:00Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-ceriani-ese-03-handout.pdf&diff=15059File:Robotics-ceriani-ese-03-handout.pdf2012-06-08T07:26:50Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-ceriani-ese-03-anim.pdf&diff=15058File:Robotics-ceriani-ese-03-anim.pdf2012-06-08T07:26:25Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-ceriani-ese-02-anim.pdf&diff=15057File:Robotics-ceriani-ese-02-anim.pdf2012-06-08T07:25:28Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-ceriani-ese-02-handout.pdf&diff=15056File:Robotics-ceriani-ese-02-handout.pdf2012-06-08T07:21:59Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15055Robotics Teaching Assistant lectures (Como)2012-06-08T07:20:22Z<p>SimoneCeriani: </p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==First lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]<br />
<br />
==Second lecture==<br />
* Projective 2D transformations (Homographies) of points, lines and conics<br />
* Homography estimation and image rectification<br />
* Hierarchy of transformations (isometries, similarities, affine, homographies)<br />
* Vanishing points<br />
* Parametric lines and Cross Ratio (with exercize)<br />
* Affine reconstruction<br />
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines<br />
* Brief recall to art and usage of vanishing points<br />
* Some videos and images examples<br />
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field<br />
* Pin hole model, Intrinsic camera matrix<br />
* Extra exercises with cross ratio<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]], videos (extract in the same folder of the slides)<br />
<br />
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-ceriani-ese-01-handout.pdf&diff=15054File:Robotics-ceriani-ese-01-handout.pdf2012-06-07T22:20:02Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15053Robotics Teaching Assistant lectures (Como)2012-06-07T22:18:35Z<p>SimoneCeriani: </p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==First lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15052Robotics Teaching Assistant lectures (Como)2012-06-07T22:18:20Z<p>SimoneCeriani: /* First lecture */</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==First lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]<br />
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=File:Robotics-ceriani-ese-01-anim.pdf&diff=15051File:Robotics-ceriani-ese-01-anim.pdf2012-06-07T22:17:13Z<p>SimoneCeriani: </p>
<hr />
<div></div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15050Robotics Teaching Assistant lectures (Como)2012-06-07T22:15:21Z<p>SimoneCeriani: </p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)<br />
<br />
==First lecture==<br />
* Homogeneous coordinates for points in 2D and 3D<br />
* Rotation and translation in 2D and 3D homogeneous coordinate<br />
* Transformation inversion and composition.<br />
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points<br />
* The line at the infinity (2D)<br />
* Brief introduction to conics<br />
* 2D projective transformation introduction<br />
<br />
Slides</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=Robotics_Teaching_Assistant_lectures_(Como)&diff=15049Robotics Teaching Assistant lectures (Como)2012-06-07T22:07:40Z<p>SimoneCeriani: Created page with "Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)"</p>
<hr />
<div>Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)</div>SimoneCerianihttps://airwiki.elet.polimi.it/index.php?title=LURCH_-_The_autonomous_wheelchair&diff=15037LURCH - The autonomous wheelchair2012-05-30T09:49:37Z<p>SimoneCeriani: /* New Board for Joystick Hack! */</p>
<hr />
<div>{{Project<br />
|title=LURCH - the autonomous wheelchair<br />
|image=LURCH wheelchair.jpg<br />
|short_descr=Augmenting commercial electric wheelchairs with autonomous navigation, obstacle avoidance, and multi-modal interfaces<br />
|coordinator=MatteoMatteucci<br />
|tutor=SimoneCeriani;<br />
|collaborator=GiulioFontana;AndreaBonarini<br />
|students=DiegoConsolaro<br />
|resarea=Robotics<br />
|restopic=Robot development<br />
|start=2007/02/01<br />
|end=2011/12/31<br />
|status=Active<br />
}}<br />
<!--[[Image:LURCH wheelchair.jpg|thumb|right|300px|LURCH in DEI exploration]]--><br />
<br />
__TOC__<br />
<br />
L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House" and beside the intentional reminder to the Addam's family character it is the autonomous wheelchair developed at the AIRLab.<br />
<br />
LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:<br />
# An interface circuit for digital drive via a radio serial link (XBee modules)<br />
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries<br />
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)<br />
# Two laser scanners Hokuyo URG 04LX<br />
# A colour camera FireI400 (resolution 640×480)<br />
# An odometry system based on encoders applied to the rear wheels<br />
<!-- #Accelerometer, gyroscope, magnetometer XSens MTi.--><br />
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Main goals of the LURCH project are:<br />
# Add sensors and robotic functionalities to the powered wheelchair.<br />
# Add various command interfaces, such as Joypad wireless, speech command, [[HeadsetControlForWheelChair | facial muscle control]], [[Brain-Computer Interface|brain-computer interface]].<br />
# Semi-autonomous navigation with collision and obstacle avoidance.<br />
# Autonomous navigation by path planning and localization.<br />
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Functions currently provided by LURCH:<br />
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.<br />
# Obstacle sensing using planar scanner lasers.<br />
# Basic collision and obstacle avoidance behaviours.<br />
# Indoor localization by a ''fiducial marker system''<br />
# Path planning and basic autonomous navigation.<br />
# [[Brain-Computer Interface|Brain-computer interface]] driving system <br />
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==Media Coverage==<br />
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.<br />
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==LURCH YouTube Videos==<br />
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{{#ev:youtube|7bZ45sGf3qs}}<br />
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*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]<br />
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{{#ev:youtube|PFjlmcTbGVs}}<br />
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]<br />
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{{#ev:youtube|RBfIq8eQJ6Q}}<br />
*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]<br />
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{{#ev:youtube|iRw8PhY8IF4}}<br />
*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]<br />
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{{#ev:youtube|zlhePZbRxZA}}<br />
*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]<br />
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=== Laboratory work and risk analysis ===<br />
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Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:<br />
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.<br />
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.<br />
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.<br />
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.<br />
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= Restyling =<br />
Lurch has been restyled in June 2010, see [[LURCH_Restyling|here]] the upgrades...<br />
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== New Board for Joystick Hack! ==<br />
Diego Consolaro during his thesis time has written [[Media:LurchMontaggioSchede.pdf]] (in Italian) a paper for assembly the new modular board developed.</div>SimoneCeriani