Robotics Teaching Assistant lectures (Como)

Materials used in the Tutorial part of Robotics course (academic year 2011-2012, Como)

The latex sources and Matlab code are also available on the svn

svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como

1st lecture

• Homogeneous coordinates for points in 2D and 3D
• Rotation and translation in 2D and 3D homogeneous coordinate
• Transformation inversion and composition.
• Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
• The line at the infinity (2D)
• Brief introduction to conics
• 2D projective transformation introduction

Slides with animations File:Robotics-ceriani-ese-01-anim.pdf

Handout File:Robotics-ceriani-ese-01-handout.pdf

2nd lecture

• Projective 2D transformations (Homographies) of points, lines and conics
• Homography estimation and image rectification
• Hierarchy of transformations (isometries, similarities, affine, homographies)
• Vanishing points
• Parametric lines and Cross Ratio (with exercize)
• Affine reconstruction
• 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
• Brief recall to art and usage of vanishing points
• Some videos and images examples
• Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
• Pin hole model, Intrinsic camera matrix
• Extra exercises with cross ratio

Slides with animations File:Robotics-ceriani-ese-02-anim.pdf

Download all videos from here [1] and place them in a folder named "videos" in the same folder of the slide file

Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout File:Robotics-ceriani-ese-02-handout.pdf

Matlab code File:Robotics-matlab-02.zip

3th lecture

• Pin hole model recall
• Projection Matrix
• Interpretation line
• Image of origin and vanishing points
• Angle of view
• Radial and tangential distortion model
• Camera calibration (Matlab Camera Calibration Toolbox [2])
• Epipolar geometry
• Fundamental matrix
• Features in image
• Thresholding, Filtering, Smoothing, Gradient
• Canny edge detector
• Hough transformation for lines extraction
• Corners
• Template matching: patches and SIFT
• Final Exercize on Camera Geometry

Slides with animations File:Robotics-ceriani-ese-03-anim.pdf

Handout File:Robotics-ceriani-ese-03-handout.pdf

Matlab code File:Robotics-matlab-03.zip

4th lecture

• Mobile robot localization
• Taxonomy of localization problems
• Probability recall
• Bayes formula and bayes filter
• Markov Localization

Slides with animations File:Robotics-ceriani-ese-04-anim.pdf

Handout File:Robotics-ceriani-ese-04-handout.pdf

Matlab code File:Robotics-matlab-04.zip

5th lecture

• Kalman Filter
• Kalman Filter example: falling body
• Extended Kalman filter
• Extended Kalman filter localization
• Correspondances, data association and Mahalanobis distance
• Qualitative introduction to Monte Carlo Localization and Particle filters

Slides with animations File:Robotics-ceriani-ese-05-anim.pdf

Handout File:Robotics-ceriani-ese-05-handout.pdf

Matlab code File:Robotics-matlab-05.zip

6th lecture

• Introduction to SLAM
• EKF-SLAM: motion model, addition, measurement
• Data associaton: Examples with JCBB
• Visual SLAM & Monocular SLAM
• Large scale SLAM issues
• Some videos...
• SLAM with OmniDirectionalCamera
• PTAM, Laser based SLAM

Slides with animations File:Robotics-ceriani-ese-06-anim.pdf.zip

Download all videos from here [3] and place them in a folder named "videos" in the same folder of the slide file

Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout File:Robotics-ceriani-ese-06-handout.pdf.zip

Matlab code File:Robotics-matlab-06.zip (this material is from [4])