Robotics Teaching Assistant lectures (Como)

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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

Matlab code

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

Matlab code

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

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