# Difference between revisions of "Robotics Teaching Assistant lectures (Como)"

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

+ | |||

+ | <code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code> | ||

+ | |||

+ | ==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 [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 | ||

+ | |||

+ | 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 [http://vision.caltech.edu/bouguetj/calib_doc/]) | ||

+ | * 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 [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 | ||

+ | |||

+ | 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 [http://www.robots.ox.ac.uk/~SSS06/Website/index.html]) |

## Latest revision as of 18:01, 20 June 2012

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])