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Course Description
This course covers research topics on
advanced topics in the interception between vision
and robotics. It is a seminar-like
class. Five different topics will be covered in
class. Students will be required to select a topic to
focus on. Each student will be required to present 2~3
papers in class and lead the discussion about the paper
in class. Students will also be required to choose a
term project that is related to the topic. There will be
project proposal presentations and final project
presentations. The class will be research oriented.
Prerequisite: Undergraduate level knowledge on one of the three directions:
Robotics, Algorithms, or Communication Networks. Equivalent research experience
is also acceptable.
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Syllabus
| Week |
Date |
Topics and Reading List
|
Lecture slides |
| 1 |
01/20
|
Introduction |
|
| 2 |
01/25 01/27 |
An overview of computer vision: homography,
camera models, calibration, and image
processing Vision in robot navigation
(appearance-based methods) |
Lec.
1 Lec. 2
[Paper]
Paper review/reading checklist |
| 3 |
02/01 02/03 |
Vision in robot navigation:
appearance-based methods and geometry-based
methods
Introduction to Networked Robots
|
Lec. 3 [Paper]
Lec. 4 |
| 4 |
02/08 02/10 |
Collaborative Telerobotics |
Lec.
5 |
| 5 |
02/15 02/17 |
[02/15] Introduction to Motion planning [Coleman,
Phillip]
L. Kavraki and S. Lavalle, Chapter 5: Motion
Planning, Springer Handbook of
Robotics. [ppt]
[Denny, Jory]
S. LaValle,
Chapter 4, The Configuration Space, Planning
Algorithms [pdf]
[02/17] Introduction to Odometry
[Hu, Shiyu]
G. Dudek and M. Jenkin, Chapter 20, Inertial
Sensors, GPS, and Odometry, Springer
Handbook of Robotics [pdf]
[Kwan, Kevin]
Mark Maimone, Yang Cheng, and Larry
Matthies, Two Years of Visual Odometry on
the Mars Exploration Rovers, Journal of
Field Robotics [1556-4959] Maimone yr:2007
vol:24 iss:3 pg:169 [pdf] |
|
| 6 |
02/22 02/24 |
[02/22] Introduction to Biologically
Inspired Robots [Alamudun, Folami]
J.-A. Meyer and A. Guillot, Chapter 60,
Biologically Inspired Robots, Springer
Handbook of Robotics [pptx]
[Gosangi, Rakesh]
R. Pfeifer, M. Lungarella, and F. Iida,
Self-Organization, Embodiment, and
Biologically Inspired Robotics, Science, 16
November 2007: Vol. 318. no. 5853, pp. 1088
- 1093 [pptx]
[02/24] Introduction to
Multi-robots [Kristek, Shawn]
L. Parker, Chapter 40: Multiple Mobile Robot
Systems, Springer Handbook of Robotics [ppt]
[Li, Wenzhe]
V. Kumar, D. Rus, and G. Sukhatme, Chapter
41: Networked Robots, Springer Handbook of
Robotics [ppt] |
|
| 7 |
03/01 03/03 |
[03/01] Introduction to Visual Tracking [Li,
Wen]
F. Chaumette and S. Hutchinson, Chapter 24:
Visual Servoing and Visual Tracking,
Springer Handbook of Robotics [pptx]
[Wang, Youyou]
A. Yilmaz, O. Javed, and M. Shah, Object
tracking: A Survey, ACM Computing Surveys
(CSUR), Volume 38
, Issue 4 (2006)
[ppt]
[03/03] Motion
Planning [Coleman,
Phillip]
Improving the performance of sampling-based
motion planning with symmetry-based gap
reduction. P. Cheng, E. Frazzoli, and S. M.
LaValle. IEEE Transactions on Robotics,
24(2):488--494, April 2008. [pdf]
[Denny, Jory]
Generating uniform incremental grids on
SO(3) using the Hopf fibration. A. Yershova,
S. M. LaValle, and J. C. Mitchell. In
Proceedings Workshop on Algorithmic
Foundations of Robotics (WAFR), 2008 [ppt] |
|
| 8 |
03/08 03/10 |
[03/08] Odometry
[Hu, Shiyu]
Jingang Yi, Hongpeng Wang, Junjie Zhang,
Dezhen Song, Suhada Jayasuriya, and Jingtain
Liu, Modeling and Analysis of
Skid-Steered Mobile Robots with Applications
to Low-Cost Inertial Measurement Unit-Based
Motion Estimation, IEEE Transactions on
Robotics, Vol. 25, No. 5, October, 2009, pp.
1087-1097 [pdf]
[Kwan, Kevin]
Lemaire, T., and Lacroix, S. 2007.
Monocular-vision based SLAM using line
segments. In IEEE International Conference
on Robotics and Automation (ICRA). [pdf]
[03/10] Biologically Inspired Robots
[Alamudun, Folami]
M. Milford, G. Wyeth, and D. Prasser,
RatSLAM on the Edge: Revealing a Coherent
Representation from an Overloaded Rat Brain,
IEEE/RSJ International conference on
Intelligent Robots and Systems (IROS), 2006,
Beijing, China [pptx]
[Gosangi, Rakesh]
T. J. PRESCOTT, M. J. PEARSON, B.
MITCHINSON, J. C. W. SULLIVAN, AND A. G.
PIPE, Whiiskiing wiith Robots: From Rat
Vibrissae to Biomimetic Technology for
Active Touch, IEEE Robotics and Automation
Magazine, Sep. 2009 [pptx]
|
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| 9 |
03/22 03/24 |
[Project Proposal] - 10 minutes
presentation+5 minutes discussion for each
student [03/22]
[Coleman,
Phillip]
[Denny, Jory]
[Hu, Shiyu]
[Kwan, Kevin]
[Alamudun, Folami]
[03/24]
[Gosangi, Rakesh]
[Kristek, Shawn]
[Li, Wenzhe]
[Li,
Wen]
[Wang, Youyou]
|
|
| 10 |
03/29 03/31 |
[03/26] Multi-robots [Kristek, Shawn]
O. Tekdas, W. Yang, and V. Isler. Robotic
Routers: Algorithms and Implementation. Int.
Journal of Robotics Research, 29(1), 2010
[Li, Wenzhe]
B. Grocholsky , J. Keller , V. Kumar and G.
Pappas (2006) Cooperative Air-Ground
Surveillance. IEEE Robotics and Automation
Magazine, 13(3):16-25.
[03/31] Visual Tracking
[Li,
Wen]
M. Isard and A. Blake,
CONDENSATION—Conditional Density Propagation
for Visual Tracking, International Journal
of Computer Vision 29(1), 5–28 (1998)
[Wang, Youyou]
S. Zhou, R. Chellappa, and B. Moghaddam,
Visual Tracking and Recognition Using
Appearance-Adaptive Models in Particle
Filters, IEEE TRANSACTIONS ON IMAGE
PROCESSING, VOL. 13, NO. 11, NOVEMBER 2004 |
|
| 11 |
04/05 04/07 |
[04/05] Motion Planning [Coleman,
Phillip]
P. Cheng , G. Pappas and V. Kumar (2007)
Decidability of Motion Planning with
Differential Constraints. In IEEE
International Conference on Robotics and
Automation. "Rome, April 10-14
[Denny, Jory]
Peng Cheng and Vijay Kumar (2006)
Sampling-based Falsification and
Verification of Controllers for Continuous
Dynamic Systems. In Workshop on Algorithmic
Foundations of Robotics. New York City, July
[04/07] Odometry
[Hu, Shiyu]
D. Nister, O. Naroditsky, J. Bergen, Visual
Odometry for Ground Vehicle Applications,
2004 IEEE Computer Society Conference on
Computer Vision and Pattern Recognition
[Kwan, Kevin]
T. Oskiper, Z. Zhu, S. Samarasekera, R.
Kumar, Visual odometry system using multiple
stereo cameras and inertial measurement
unit, IEEE Conference on CVPR’07 |
|
| 12 |
04/12 04/14 |
[04/12] Biologically Inspired Robots [Alamudun, Folami]
Christian Siagian and Laurent Itti,
Biologically inspired mobile robot vision
localization, IEEE Transactions on Robotics,
2009, V25, Issue 4, pages 861-873
[Gosangi, Rakesh]
Alejandra Barrera and AlfredoWeitzenfeld,
Biologically-inspired robot spatial
cognition based on rat neurophysiological
studies, Auton Robot (2008) 25: 147–169
[04/14] Multi-robots
[Kristek, Shawn]
M. Batalin and G. Sukhatme, The Design and
Analysis of an Efficient Local
Algorithm for Coverage and Exploration Based
on Sensor Network Deployment, IEEE
TRANSACTIONS ON ROBOTICS, VOL. 23, NO. 4,
AUGUST 2007
[Li, Wenzhe]
Spring Berman, A´ da´m Hala´sz, Vijay Kumar,
and Stephen Pratt, Bio-Inspired Group
Behaviors for the Deployment of a Swarm of
Robots to Multiple Destinations, IEEE ICRA
2007 |
|
| 13 |
04/19 04/21 |
[04/19] Visual Tracking [Li,
Wen]
Mejias, Luis
and Saripalli,
Srikanth and
Campoy, Pascual
and Sukhatme,
Gaurav (2006)
Visual servoing of an autonomous helicopter
in urban areas using feature tracking.
Journal of Field Robotics, 23(3-4). pp.
185-199.
[Wang, Youyou]
D. Ross, J. Lim, R. Lin, and M. Yang,
Incremental Learning for Robust Visual
Tracking, International Journal of
Computer Vision, Volume 77, Numbers 1-3 /
May, 2008
[04/21]Project presentations
[Coleman,
Phillip]
[Denny, Jory] |
|
| 14 |
04/26 04/28 |
[04/26]
Project presentations [Hu, Shiyu]
[Kwan, Kevin]
[04/28]
Project presentations[Alamudun, Folami]
[Gosangi, Rakesh]
|
|
| 15 |
05/03 05/05 |
[05/03]
Project presentations [Kristek, Shawn]
[Li, Wenzhe]
[05/05]
Project presentations[Li,
Wen]
[Wang, Youyou]
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