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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
[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
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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]
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|
| 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 |
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| 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]
[Kwan, Kevin] |
|
| 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]
[Li, Wenzhe] |
|
| 13 |
04/19 04/21 |
[04/19] Visual Tracking [Li,
Wen]
[Wang, Youyou]
[04/21]Project presentations
[Coleman,
Phillip]
[Denny, Jory] |
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| 14 |
04/26 04/28 |
[04/26]
Project presentations [Hu, Shiyu]
[Kwan, Kevin]
[04/28]
Project presentations[Alamudun, Folami]
[Gosangi, Rakesh]
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| 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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