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)
  
==First lecture==
+
==1st lecture==
 
* Homogeneous coordinates for points in 2D and 3D
 
* Homogeneous coordinates for points in 2D and 3D
 
* Rotation and translation in 2D and 3D homogeneous coordinate
 
* Rotation and translation in 2D and 3D homogeneous coordinate
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Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]
 
Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]
  
==Second lecture==
+
==2nd lecture==
 
* Projective 2D transformations (Homographies) of points, lines and conics
 
* Projective 2D transformations (Homographies) of points, lines and conics
 
* Homography estimation and image rectification
 
* Homography estimation and image rectification
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Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]
 
Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]
  
==Third lecture==
+
==3th lecture==
  
 
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]
 
Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]
  
 
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]
 
Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]
 +
 +
==4th lecture==
 +
 +
Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]
 +
 +
Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]
 +
 +
==5th lecture==
 +
 +
Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]
 +
 +
Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Revision as of 08:46, 8 June 2012

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

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

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

3th lecture

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

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

4th lecture

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

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

5th lecture

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

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