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

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==4th lecture== | ==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]] | Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]] |

## Revision as of 10:00, 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

- 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 [1])
- 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

## 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

## 5th lecture

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