Murray Wiki - User contributions [en]

ME/CS 132a, Winter 2013

2013-03-19T08:11:36Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est_2.pdf Notes on Kalman Filters], [http://www.cds.caltech.edu/~yhhuang/lectures/auton_car_kf.m Car example], [http://www.cds.caltech.edu/~yhhuang/lectures/moon_lander_kf.m Moon Lander example]
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture12.pdf Extended Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/EKF_ackermann.m EKF example], [http://www.cds.caltech.edu/~yhhuang/lectures/UKF_ackermann.m UKF example]
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture13.pdf Particle Filter and Unscented Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/ParticleFilterTutorial.pdf Particle Filter Notes]
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture14.pdf Examples, Intro to Mapping], [http://www.cds.caltech.edu/~yhhuang/lectures/icra2012.pdf Paper on LS3 Robot] [http://www.cds.caltech.edu/~yhhuang/lectures/icra2012_ws.pdf Paper on Mapping]
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture15.pdf Occupancy Grid Maps, Intro to Lab 2]
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution3.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution4.m Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework5.pdf Homework 5] - Due: Tue Mar 5 at 11:59pm - turn in set to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework5_material.zip Homework 5 material]
*Lab 2: Due: Fri Mar 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab02.pdf Lab2 Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab02_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_2_Sign-Up Sign up page]
**[http://www.cds.caltech.edu/~yhhuang/homework/LMSTechnicalDescription.pdf Laser Scanner Spec Sheet]
**[http://www.cds.caltech.edu/~yhhuang/homework/forward_model_thrun.pdf Forward Sensor Models (for 3-person group)]

ME/CS 132a, Winter 2013, Lab 2 Sign-Up

2013-03-10T22:50:53Z

Yhhuang:

==Things to Do==

Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page and enter your Caltech IMSS account/password. Remember to fill in everyone's name in your group. First group of 3 to sign up will be the only group of 3.

==Schedule for Lab Session==

'''Lab Schedule:'''
{|border=1 width=70%
!colspan=2|12 Mar 2013 (Tue)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|Shiyu Zhao and Yizhen Wang
|-
|1:30-2pm
|
|-
|2-2:30pm
|
|-
|2:30-3pm
|Anum Jangsher and Rebecca Lawler
|-
|3-3:30pm
|
|-
|4:30-5pm
|
|-
|5-5:30pm
|
|-
|5:30-6pm
|
|}

{|border=1 width=70%
!colspan=2|14 Mar 2013 (Thurs)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|1:30-2pm
|Hima Hassenruck-Gudipati, Kim Furuya
|-
|2-2:30pm
|Ben Razon, Judy Mou
|-
|2:30-3pm
|Brian Thompson, Annie Chin
|-
|3-3:30pm
| Tuling Ma, Mikhail Sushkov
|-
|3:30-4pm
|
|-
|4-4:30pm
|Gregory Izatt, Matthew Dughi
|-
|4:30-5pm
|
|-
|5-5:30pm
|Bryan He, Paul Zhang
|-
|5:30-6pm
|Shir Aharon, Tiffany Huang, Steven Okai
|}

==RPIN Assignment==
<FONT color=RED>'''Note to students: Do NOT edit this section.''' </FONT>
{|border=1 width=80%
!colspan=3 width=40%|RPIN Assignment
!colspan=3 width=40%|RPIN Assignment
|-
|Name
|Username
|Port Number
|Name
|Username
|Port Number
|-
|<DEFAULT>
|
|6665
|Shir Aharon
|saharon
|7000
|-
|Diego Caporale
|jcaporal
|7001
|Annie Chin
|achin
|7002
|-
|Chris Dudiak
|cdudiak
|7003
|Matt Dughi
|mdughi
|7004
|-
|Kim Furuya
|kfuruya
|7005
|Hima Hassenruck-Gudipati
|hhassenr
|7006
|-
|Bryan He
|bryanhe
|7007
|Tiffany Huang
|tahuang
|7008
|-
|Greg Izatt
|gizatt
|7009
|Anum Jang Sher
|ajangshe
|7010
|-
|Cole Jenkins
|ljenkins
|7011
|Sam Jones
|sjones
|7012
|-
|Rebecca Lawler
|rlawler
|7013
|Tuling Ma
|tma
|7014
|-
|Tim Meyer
|tmeyer
|7015
|Judy Mou
|xmou
|7016
|-
|Richard O'Dowd
|rodowd
|7017
|Steven Okai
|sokai
|7018
|-
|Ben Razon
|brazon
|7019
|Russell Smith
|rssmith
|7020
|-
|Michael Sushkov
|msushkov
|7021
|Brian Thompson
|bthompso
|7022
|-
|Mariya Vasileva
|mvasilev
|7023
|Eric Wang
|ywang3
|7024
|-
|Paul Zhang
|pzhang
|7025
|Shiyu Zhao
|szzhao
|7026
|}

ME/CS 132a, Winter 2013

2013-03-07T07:33:56Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est_2.pdf Notes on Kalman Filters], [http://www.cds.caltech.edu/~yhhuang/lectures/auton_car_kf.m Car example], [http://www.cds.caltech.edu/~yhhuang/lectures/moon_lander_kf.m Moon Lander example]
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture12.pdf Extended Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/EKF_ackermann.m EKF example], [http://www.cds.caltech.edu/~yhhuang/lectures/UKF_ackermann.m UKF example]
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture13.pdf Particle Filter and Unscented Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/ParticleFilterTutorial.pdf Particle Filter Notes]
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture14.pdf Examples, Intro to Mapping], [http://www.cds.caltech.edu/~yhhuang/lectures/icra2012.pdf Paper on LS3 Robot] [http://www.cds.caltech.edu/~yhhuang/lectures/icra2012_ws.pdf Paper on Mapping]
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture15.pdf Occupancy Grid Maps, Intro to Lab 2]
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework5.pdf Homework 5] - Due: Tue Mar 5 at 11:59pm - turn in set to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework5_material.zip Homework 5 material]
*Lab 2: Due: Fri Mar 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab02.pdf Lab2 Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab02_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_2_Sign-Up Sign up page]
**[http://www.cds.caltech.edu/~yhhuang/homework/LMSTechnicalDescription.pdf Laser Scanner Spec Sheet]
**[http://www.cds.caltech.edu/~yhhuang/homework/forward_model_thrun.pdf Forward Sensor Models (for 3-person group)]

ME/CS 132a, Winter 2013, Lab 2 Sign-Up

2013-03-07T07:31:03Z

Yhhuang: Created page with "==Things to Do== Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page..."

==Things to Do==

Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page and enter your Caltech IMSS account/password. Remember to fill in everyone's name in your group. First group of 3 to sign up will be the only group of 3.

==Schedule for Lab Session==

'''Lab Schedule:'''
{|border=1 width=70%
!colspan=2|12 Mar 2013 (Tue)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|1:30-2pm
|
|-
|2-2:30pm
|
|-
|2:30-3pm
|
|-
|3-3:30pm
|
|-
|3:30-4pm
|
|-
|4-4:30pm
|
|-
|4:30-5pm
|
|-
|5-5:30pm
|
|-
|5:30-6pm
|
|}

{|border=1 width=70%
!colspan=2|14 Mar 2013 (Thurs)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|1:30-2pm
|
|-
|2-2:30pm
|
|-
|2:30-3pm
|
|-
|3-3:30pm
|
|-
|3:30-4pm
|
|-
|4-4:30pm
|
|-
|4:30-5pm
|
|-
|5-5:30pm
|
|-
|5:30-6pm
|
|}

==RPIN Assignment==
<FONT color=RED>'''Note to students: Do NOT edit this section.''' </FONT>
{|border=1 width=80%
!colspan=3 width=40%|RPIN Assignment
!colspan=3 width=40%|RPIN Assignment
|-
|Name
|Username
|Port Number
|Name
|Username
|Port Number
|-
|<DEFAULT>
|
|6665
|Shir Aharon
|saharon
|7000
|-
|Diego Caporale
|jcaporal
|7001
|Annie Chin
|achin
|7002
|-
|Chris Dudiak
|cdudiak
|7003
|Matt Dughi
|mdughi
|7004
|-
|Kim Furuya
|kfuruya
|7005
|Hima Hassenruck-Gudipati
|hhassenr
|7006
|-
|Bryan He
|bryanhe
|7007
|Tiffany Huang
|tahuang
|7008
|-
|Greg Izatt
|gizatt
|7009
|Anum Jang Sher
|ajangshe
|7010
|-
|Cole Jenkins
|ljenkins
|7011
|Sam Jones
|sjones
|7012
|-
|Rebecca Lawler
|rlawler
|7013
|Tuling Ma
|tma
|7014
|-
|Tim Meyer
|tmeyer
|7015
|Judy Mou
|xmou
|7016
|-
|Richard O'Dowd
|rodowd
|7017
|Steven Okai
|sokai
|7018
|-
|Ben Razon
|brazon
|7019
|Russell Smith
|rssmith
|7020
|-
|Michael Sushkov
|msushkov
|7021
|Brian Thompson
|bthompso
|7022
|-
|Mariya Vasileva
|mvasilev
|7023
|Eric Wang
|ywang3
|7024
|-
|Paul Zhang
|pzhang
|7025
|Shiyu Zhao
|szzhao
|7026
|}

ME/CS 132a, Winter 2013

2013-03-07T07:27:31Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est_2.pdf Notes on Kalman Filters], [http://www.cds.caltech.edu/~yhhuang/lectures/auton_car_kf.m Car example], [http://www.cds.caltech.edu/~yhhuang/lectures/moon_lander_kf.m Moon Lander example]
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture12.pdf Extended Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/EKF_ackermann.m EKF example], [http://www.cds.caltech.edu/~yhhuang/lectures/UKF_ackermann.m UKF example]
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture13.pdf Particle Filter and Unscented Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/ParticleFilterTutorial.pdf Particle Filter Notes]
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture14.pdf Examples, Intro to Mapping], [http://www.cds.caltech.edu/~yhhuang/lectures/icra2012.pdf Paper on LS3 Robot] [http://www.cds.caltech.edu/~yhhuang/lectures/icra2012_ws.pdf Paper on Mapping]
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture15.pdf Occupancy Grid Maps, Intro to Lab 2]
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework5.pdf Homework 5] - Due: Tue Mar 5 at 11:59pm - turn in set to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework5_material.zip Homework 5 material]
*Lab 2: Due: Fri Mar 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab2 Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab02_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_2_Sign-Up Sign up page]
**[http://www.cds.caltech.edu/~yhhuang/homework/LMSTechnicalDescription.pdf Laser Scanner Spec Sheet]
**[http://www.cds.caltech.edu/~yhhuang/homework/forward_model_thrun.pdf Forward Sensor Models (for 3-person group)]

ME/CS 132a, Winter 2013

2013-03-07T07:14:31Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est_2.pdf Notes on Kalman Filters], [http://www.cds.caltech.edu/~yhhuang/lectures/auton_car_kf.m Car example], [http://www.cds.caltech.edu/~yhhuang/lectures/moon_lander_kf.m Moon Lander example]
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture12.pdf Extended Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/EKF_ackermann.m EKF example], [http://www.cds.caltech.edu/~yhhuang/lectures/UKF_ackermann.m UKF example]
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture13.pdf Particle Filter and Unscented Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/ParticleFilterTutorial.pdf Particle Filter Notes]
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture14.pdf Examples, Intro to Mapping], [http://www.cds.caltech.edu/~yhhuang/lectures/icra2012.pdf Paper on LS3 Robot] [http://www.cds.caltech.edu/~yhhuang/lectures/icra2012_ws.pdf Paper on Mapping]
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture15.pdf Occupancy Grid Maps, Intro to Lab 2]
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework5.pdf Homework 5] - Due: Tue Mar 5 at 11:59pm - turn in set to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework5_material.zip Homework 5 material]

ME/CS 132a, Winter 2013

2013-03-04T02:00:30Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est_2.pdf Notes on Kalman Filters], [http://www.cds.caltech.edu/~yhhuang/lectures/auton_car_kf.m Car example], [http://www.cds.caltech.edu/~yhhuang/lectures/moon_lander_kf.m Moon Lander example]
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture12.pdf Extended Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/EKF_ackermann.m EKF example], [http://www.cds.caltech.edu/~yhhuang/lectures/UKF_ackermann.m UKF example]
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture13.pdf Particle Filter and Unscented Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/ParticleFilterTutorial.pdf Particle Filter Notes]
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework5.pdf Homework 5] - Due: Tue Mar 5 at 11:59pm - turn in set to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework5_material.zip Homework 5 material]

ME/CS 132a, Winter 2013

2013-03-03T02:53:02Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est_2.pdf Notes on Kalman Filters], [http://www.cds.caltech.edu/~yhhuang/lectures/auton_car_kf.m Car example], [http://www.cds.caltech.edu/~yhhuang/lectures/moon_lander_kf.m Moon Lander example]
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture12.pdf Extended Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/EKF_ackermann.m EKF example], [http://www.cds.caltech.edu/~yhhuang/lectures/UKF_ackermann.m UKF example]
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture13.pdf Particle Filter and Unscented Kalman Filter]
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework5.pdf Homework 5] - Due: Tue Mar 5 at 11:59pm - turn in set to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework5_material.zip Homework 5 material]

ME/CS 132a, Winter 2013

2013-02-24T23:06:27Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est_2.pdf Notes on Kalman Filters], [http://www.cds.caltech.edu/~yhhuang/lectures/auton_car_kf.m Car example], [http://www.cds.caltech.edu/~yhhuang/lectures/moon_lander_kf.m Moon Lander example]
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture12.pdf Extended Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/EKF_ackermann.m EKF example], [http://www.cds.caltech.edu/~yhhuang/lectures/UKF_ackermann.m UKF example]
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework5.pdf Homework 5] - Due: Tue Mar 5 at 11:59pm - turn in set to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework5_material.zip Homework 5 material]

ME/CS 132a, Winter 2013

2013-02-23T01:17:16Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est_2.pdf Notes on Kalman Filters]
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture12.pdf Extended Kalman Filter], [http://www.cds.caltech.edu/~yhhuang/lectures/EKF_ackermann.m EKF example], [http://www.cds.caltech.edu/~yhhuang/lectures/UKF_ackermann.m UKF example]
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework5.pdf Homework 5] - Due: Tue Mar 5 at 11:59pm - turn in set to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework5_material.zip Homework 5 material]

ME/CS 132a, Winter 2013

2013-02-23T01:13:24Z

Yhhuang: /* Lecture Notes */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est_2.pdf Notes on Kalman Filters]
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter [http://www.cds.caltech.edu/~yhhuang/lectures/StateEstimationEKF2013.pdf Notes on EKF], [http://www.cds.caltech.edu/~yhhuang/lectures/EKF_ackermann.m EKF example], [http://www.cds.caltech.edu/~yhhuang/lectures/UKF_ackermann.m UKF example]
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework5.pdf Homework 5] - Due: Tue Mar 5 at 11:59pm - turn in set to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework5_material.zip Homework 5 material]

ME/CS 132a, Winter 2013

2013-02-23T00:56:40Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est_2.pdf Notes on Kalman Filters]
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework5.pdf Homework 5] - Due: Tue Mar 5 at 11:59pm - turn in set to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework5_material.zip Homework 5 material]

ME/CS 132a, Winter 2013

2013-02-23T00:56:09Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est_2.pdf Notes on Kalman Filters]
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework5.pdf Homework 5] - Due: Tue Mar 5 at 11:59pm - turn in set to Ilya
**[http://www.cds.caltech.edu/~yhhuang/homework/homework5_material.zip Homework 5 material]

ME/CS 132a, Winter 2013

2013-02-19T22:44:08Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est_2.pdf Notes on Kalman Filters]
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]

ME/CS 132a, Winter 2013

2013-02-14T02:59:15Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation, [http://www.cds.caltech.edu/~yhhuang/lectures/notes_est.pdf Notes on Estimation]
|Thrun 1, 2
|Paul Hebert
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework4.pdf Homework 4] - Due: Thurs Feb 21 at 11:59pm - turn in set to Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/ME132_DB.m Homework 4 matlab code]

ME/CS 132a, Winter 2013

2013-02-13T12:48:26Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation
|Thrun 1, 2
|Nick Hudson
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set by emailing Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]

ME/CS 132a, Winter 2013

2013-02-13T11:02:21Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation
|Thrun 1, 2
|Nick Hudson
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip Solutions ])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set by emailing Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]

ME/CS 132a, Winter 2013

2013-02-13T11:01:33Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation
|Thrun 1, 2
|Nick Hudson
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm ([Solutions http://www.cds.caltech.edu/~yhhuang/solutions/Solution1.pdf])
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm ([Solutions http://www.cds.caltech.edu/~yhhuang/solutions/Solution2.zip])
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set by emailing Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]

ME/CS 132a, Winter 2013

2013-02-11T11:47:48Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Mon 5-6pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/11''': Office hours today (Monday) 5-6pm in SFL 2-2.
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation
|Thrun 1, 2
|Nick Hudson
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm - turn in set by emailing code and images to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set by emailing Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]

ME/CS 132a, Winter 2013, Lab 1 Sign-Up

2013-02-06T01:20:44Z

Yhhuang:

==Things to Do==
'''As an individual''':
* Check the list below for you username. Log into tokyo.cds.caltech.edu and change your password. Initial password will be given out in class (Tue Feb 5).

'''As a group (2-3 people)''':
* Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page and enter your Caltech IMSS account/password. Remember to fill in everyone's name in your group.

==Schedule for Lab Session==
'''People who need partners:''' Email Yifei if you still need to find somebody to work with.

'''Lab Schedule:'''
{|border=1 width=70%
!colspan=2|12 Feb 2013 (Tue)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|1:30-2pm
|
|-
|2-2:30pm
|
|-
|2:30-3pm
|
|-
|3-3:30pm
|
|-
|3:30-4pm
|
|-
|4-4:30pm
|
|-
|4:30-5pm
|
|-
|5-5:30pm
|
|-
|5:30-6pm
|
|}

{|border=1 width=70%
!colspan=2|14 Feb 2013 (Thurs)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|1:30-2pm
|
|-
|2-2:30pm
|
|-
|4-4:30pm
| Tuling Ma, Mikhail Sushkov
|-
|4:30-5pm
|
|-
|5-5:30pm
|Chris Dudiak, Sam Jones
|-
|5:30-6pm
|Gregory Izatt, Matt Dughi
|-
|7-7:30pm
|
|-
|7:30-8pm
|
|-
|8-8:30pm
|
|-
|8:30-9pm
|Shir Aharon, Tiffany Huang, Steven Okai
|}

==RPIN Assignment==
<FONT color=RED>'''Note to students: Do NOT edit this section.''' </FONT>
{|border=1 width=80%
!colspan=3 width=40%|RPIN Assignment
!colspan=3 width=40%|RPIN Assignment
|-
|Name
|Username
|Port Number
|Name
|Username
|Port Number
|-
|<DEFAULT>
|
|6665
|Shir Aharon
|saharon
|7000
|-
|Diego Caporale
|jcaporal
|7001
|Annie Chin
|achin
|7002
|-
|Chris Dudiak
|cdudiak
|7003
|Matt Dughi
|mdughi
|7004
|-
|Kim Furuya
|kfuruya
|7005
|Hima Hassenruck-Gudipati
|hhassenr
|7006
|-
|Bryan He
|bryanhe
|7007
|Tiffany Huang
|tahuang
|7008
|-
|Greg Izatt
|gizatt
|7009
|Anum Jang Sher
|ajangshe
|7010
|-
|Cole Jenkins
|ljenkins
|7011
|Sam Jones
|sjones
|7012
|-
|Rebecca Lawler
|rlawler
|7013
|Tuling Ma
|tma
|7014
|-
|Tim Meyer
|tmeyer
|7015
|Judy Mou
|xmou
|7016
|-
|Richard O'Dowd
|rodowd
|7017
|Steven Okai
|sokai
|7018
|-
|Ben Razon
|brazon
|7019
|Russell Smith
|rssmith
|7020
|-
|Michael Sushkov
|msushkov
|7021
|Brian Thompson
|bthompso
|7022
|-
|Mariya Vasileva
|mvasilev
|7023
|Eric Wang
|ywang3
|7024
|-
|Paul Zhang
|pzhang
|7025
|Shiyu Zhao
|szzhao
|7026
|}

ME/CS 132a, Winter 2013

2013-02-06T00:42:58Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Thurs 4-5pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation
|Thrun 1, 2
|Nick Hudson
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm - turn in set by emailing code and images to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set by emailing Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]

ME/CS 132a, Winter 2013

2013-02-05T07:41:49Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Thurs 4-5pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|Overview of Range Sensors, Introduction to Lab 1
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation
|Thrun 1, 2
|Nick Hudson
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm - turn in set by emailing code and images to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set by emailing Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1: Due: Fri Feb 15 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]

ME/CS 132a, Winter 2013, Lab 1 Sign-Up

2013-02-05T07:35:24Z

Yhhuang:

==Things to Do==
'''As an individual''':
* Check the list below for you username. Log into tokyo.cds.caltech.edu and change your password. Initial password will be given out in class (Tue Feb 5).

'''As a group (2-3 people)''':
* Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page and enter your Caltech IMSS account/password. Remember to fill in everyone's name in your group.

==Schedule for Lab Session==
{|border=1 width=70%
!colspan=2|12 Feb 2013 (Tue)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|1:30-2pm
|
|-
|2-2:30pm
|
|-
|2:30-3pm
|
|-
|3-3:30pm
|
|-
|3:30-4pm
|
|-
|4-4:30pm
|
|-
|4:30-5pm
|
|-
|5-5:30pm
|
|-
|5:30-6pm
|
|}

{|border=1 width=70%
!colspan=2|14 Feb 2013 (Thurs)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|1:30-2pm
|
|-
|2-2:30pm
|
|-
|4-4:30pm
|
|-
|4:30-5pm
|
|-
|5-5:30pm
|
|-
|5:30-6pm
|
|-
|7-7:30pm
|
|-
|7:30-8pm
|
|-
|8-8:30pm
|
|-
|8:30-9pm
|
|}

==RPIN Assignment==
<FONT color=RED>'''Note to students: Do NOT edit this section.''' </FONT>
{|border=1 width=80%
!colspan=3 width=40%|RPIN Assignment
!colspan=3 width=40%|RPIN Assignment
|-
|Name
|Username
|Port Number
|Name
|Username
|Port Number
|-
|<DEFAULT>
|
|6665
|Shir Aharon
|saharon
|7000
|-
|Diego Caporale
|jcaporal
|7001
|Annie Chin
|achin
|7002
|-
|Chris Dudiak
|cdudiak
|7003
|Matt Dughi
|mdughi
|7004
|-
|Kim Furuya
|kfuruya
|7005
|Hima Hassenruck-Gudipati
|hhassenr
|7006
|-
|Bryan He
|bryanhe
|7007
|Tiffany Huang
|tahuang
|7008
|-
|Greg Izatt
|gizatt
|7009
|Anum Jang Sher
|ajangshe
|7010
|-
|Cole Jenkins
|ljenkins
|7011
|Sam Jones
|sjones
|7012
|-
|Rebecca Lawler
|rlawler
|7013
|Tuling Ma
|tma
|7014
|-
|Tim Meyer
|tmeyer
|7015
|Judy Mou
|xmou
|7016
|-
|Richard O'Dowd
|rodowd
|7017
|Steven Okai
|sokai
|7018
|-
|Ben Razon
|brazon
|7019
|Russell Smith
|rssmith
|7020
|-
|Michael Sushkov
|msushkov
|7021
|Brian Thompson
|bthompso
|7022
|-
|Mariya Vasileva
|mvasilev
|7023
|Eric Wang
|ywang3
|7024
|-
|Paul Zhang
|pzhang
|7025
|Shiyu Zhao
|szzhao
|7026
|}

ME/CS 132a, Winter 2013

2013-02-05T07:33:08Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Thurs 4-5pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|Overview of Range Sensors, Introduction to Lab 1
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation
|Thrun 1, 2
|Nick Hudson
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm - turn in set by emailing code and images to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set by emailing Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1:
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01.pdf Lab Description]
**[http://www.cds.caltech.edu/~yhhuang/homework/lab01_material.zip Lab Material]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]

ME/CS 132a, Winter 2013

2013-02-05T00:23:31Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Thurs 4-5pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|Overview of Range Sensors, Introduction to Lab 1
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation
|Thrun 1, 2
|Nick Hudson
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm - turn in set by emailing code and images to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set by emailing Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1:
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Additional Instructions]

ME/CS 132a, Winter 2013, Lab 1 Sign-Up

2013-02-05T00:22:44Z

Yhhuang:

==Things to Do==
'''As an individual''':
* Check the list below for you username. Log into tokyo.cds.caltech.edu and change your password. Initial password will be given out in class (Tue Feb 5).

'''As a group (3 people)''':
* Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page and enter your Caltech IMSS account/password. Remember to fill in everyone's name in your group.

==Schedule for Lab Session==
{|border=1 width=70%
!colspan=2|9 Feb 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|2-2:30pm
|
|-
|3-3:30pm
|
|-
|4-4:30pm
|
|-
|5-5:30pm
|
|}

{|border=1 width=70%
!colspan=2|10 Feb 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|2-2:30pm
|
|-
|3-3:30pm
|
|-
|4-4:30pm
|
|-
|5-5:30pm
|
|-
|}

==RPIN Assignment==
<FONT color=RED>'''Note to students: Do NOT edit this section.''' </FONT>
{|border=1 width=80%
!colspan=3 width=40%|RPIN Assignment
!colspan=3 width=40%|RPIN Assignment
|-
|Name
|Username
|Port Number
|Name
|Username
|Port Number
|-
|<DEFAULT>
|
|6665
|Shir Aharon
|saharon
|7000
|-
|Diego Caporale
|jcaporal
|7001
|Annie Chin
|achin
|7002
|-
|Chris Dudiak
|cdudiak
|7003
|Matt Dughi
|mdughi
|7004
|-
|Kim Furuya
|kfuruya
|7005
|Hima Hassenruck-Gudipati
|hhassenr
|7006
|-
|Bryan He
|bryanhe
|7007
|Tiffany Huang
|tahuang
|7008
|-
|Greg Izatt
|gizatt
|7009
|Anum Jang Sher
|ajangshe
|7010
|-
|Cole Jenkins
|ljenkins
|7011
|Sam Jones
|sjones
|7012
|-
|Rebecca Lawler
|rlawler
|7013
|Tuling Ma
|tma
|7014
|-
|Tim Meyer
|tmeyer
|7015
|Judy Mou
|xmou
|7016
|-
|Richard O'Dowd
|rodowd
|7017
|Steven Okai
|sokai
|7018
|-
|Ben Razon
|brazon
|7019
|Russell Smith
|rssmith
|7020
|-
|Michael Sushkov
|msushkov
|7021
|Brian Thompson
|bthompso
|7022
|-
|Mariya Vasileva
|mvasilev
|7023
|Eric Wang
|ywang3
|7024
|-
|Paul Zhang
|pzhang
|7025
|Shiyu Zhao
|szzhao
|7026
|}

ME/CS 132a, Winter 2013, Lab 1 Sign-Up

2013-02-05T00:12:04Z

Yhhuang:

==Things to Do==
'''As an individual''':
* Check the list below for you username. Log into tokyo.cds.caltech.edu and change your password. Initial password will be given out in class (Tue Feb 5).

'''As a group (2-3 people)''':
* Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page and enter your Caltech IMSS account/password. Remember to fill in everyone's name in your group.

==Schedule for Lab Session==
{|border=1 width=70%
!colspan=2|9 Feb 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|2-2:30pm
|
|-
|3-3:30pm
|
|-
|4-4:30pm
|
|-
|5-5:30pm
|
|}

{|border=1 width=70%
!colspan=2|10 Feb 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|2-2:30pm
|
|-
|3-3:30pm
|
|-
|4-4:30pm
|
|-
|5-5:30pm
|
|-
|}

==RPIN Assignment==
<FONT color=RED>'''Note to students: Do NOT edit this section.''' </FONT>
{|border=1 width=80%
!colspan=3 width=40%|RPIN Assignment
!colspan=3 width=40%|RPIN Assignment
|-
|Name
|Username
|Port Number
|Name
|Username
|Port Number
|-
|<DEFAULT>
|
|6665
|Shir Aharon
|saharon
|7000
|-
|Diego Caporale
|jcaporal
|7001
|Annie Chin
|achin
|7002
|-
|Chris Dudiak
|cdudiak
|7003
|Matt Dughi
|mdughi
|7004
|-
|Kim Furuya
|kfuruya
|7005
|Hima Hassenruck-Gudipati
|hhassenr
|7006
|-
|Bryan He
|bryanhe
|7007
|Tiffany Huang
|tahuang
|7008
|-
|Greg Izatt
|gizatt
|7009
|Anum Jang Sher
|ajangshe
|7010
|-
|Cole Jenkins
|ljenkins
|7011
|Sam Jones
|sjones
|7012
|-
|Rebecca Lawler
|rlawler
|7013
|Tuling Ma
|tma
|7014
|-
|Tim Meyer
|tmeyer
|7015
|Judy Mou
|xmou
|7016
|-
|Richard O'Dowd
|rodowd
|7017
|Steven Okai
|sokai
|7018
|-
|Ben Razon
|brazon
|7019
|Russell Smith
|rssmith
|7020
|-
|Michael Sushkov
|msushkov
|7021
|Brian Thompson
|bthompso
|7022
|-
|Mariya Vasileva
|mvasilev
|7023
|Eric Wang
|ywang3
|7024
|-
|Paul Zhang
|pzhang
|7025
|Shiyu Zhao
|szzhao
|7026
|}

ME/CS 132a, Winter 2013

2013-02-05T00:11:15Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Thurs 4-5pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|Overview of Range Sensors, Introduction to Lab 1
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation
|Thrun 1, 2
|Nick Hudson
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm - turn in set by emailing code and images to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set by emailing Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]
*Lab 1:
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1 Sign up page]
**[https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013,_Lab_1_Sign-Up Additional Instructions]

ME/CS 132a, Winter 2013, Lab 1

2013-02-05T00:07:43Z

Yhhuang: Created page with "== Exercise #0: Linux Primer (skip this if you had prior experience) == If you have not used Linux (or any UNIX-like OS) before, go to http://imss.caltech.edu/cms.php?op=wiki&..."

== Exercise #0: Linux Primer (skip this if you had prior experience) ==
If you have not used Linux (or any UNIX-like OS) before, go to http://imss.caltech.edu/cms.php?op=wiki&wiki_op=view&id=324 to learn the basics of command line operations. It is important to go through this since we will heavily rely on the command line for the labs.

== Exercise #1: Running Player/Stage Remotely ==
In order to run Player/Stage remotely, you'll need to access the course server using the login information provided by the TA. You'll need to have X-forwarding enabled. This is pretty straight-forward if you're running UNIX-like systems. See below for special notes on how to run using Windows.

* '''Server address: tokyo.cds.caltech.edu'''
* '''Connection type: SSH'''
* We will use the dollar sign "$" as the command line prompt. You shouldn't include this as part of the commands below.

=== Logging into the Player/Stage remote server (Linux/Mac OS X) ===
# Open a terminal window (that is X-friendly).
# Connect to robotics via SSH:<BR> <TT>$ ssh -X username@tokyo.cds.caltech.edu</TT> <BR> and enter the password (where <tt>username</tt> needs to be replaced with the one received from the TA).
#* The "-X" enables X11 forwarding, which is how you'll get the Stage windows and such to appear on your local machine.
# If this is your first login, be sure to change your password by running: <br><TT>$ passwd</TT>

=== Logging into the Player/Stage remote server (Windows) ===
On Windows, there are at least two effective options. The first is to virtualize a Unix/Unix-like operating system. The second is to use cygwin.

====Virtualizing Linux====
# Go to [https://www.virtualbox.org/wiki/Downloads this page] and click on the link on the line that says "VirtualBox 4.1.8 for Windows hosts" to download Virtualbox.
# Run the downloaded executable to install Virtualbox
# Go to [http://www.ubuntu.com/download/ubuntu/download this page] to download Ubuntu, the operating system the robots are running on. If you don't like Ubuntu, any other Linux operating system should be fine. The version of Ubuntu you get (64-bit vs. 32-bit and 11.10 vs. 10.04) does not matter. The robots are running Ubuntu 10.04. You should select to download an .iso image.
# Start Virtualbox, and create a virtual machine with these settings:
## At least 512 MB of RAM
## At least 10 GB of hard disk space. I recommend making a dynamically expanding image (you'll see when you get there) and just setting a very high number for the amount of available space.
# Start Ubuntu. Go to the bottom right-hand corner and hover over the icons. One will say "Install Guest Additions". Double -click (or right click) on the icon to install Guest Additions. You will probably be prompted to allow it to run on startup - click Yes. Once you have installed Guest Additions, you can then shutdown your virtual machine and then you will be able to let the virtual operating system take over your whole computer screen.
# The default text-editing program is gedit.

Once you have your virtual machine set up, your virtual machine will run within a Windows window, and while you're in that window, you can pretend that you're working in a unix environment.

====Using Cygwin====
# Go to [http://cygwin.com/install.html this page] and download '''setup.exe'''.
# Run '''setup.exe'''
# Select "Install from Internet"
# When you get to select which packages to install, make sure that the packages "openssh" and the set of packages under "X11" are set to be installed.
# Once you are done installing, go to your start menu and start the program "XWin Server". A terminal that you can use should pop up. You can use that terminal like any other Linux terminal.

=== Running Player/Stage ===
# Change directory to the appropriate path that contains the player configuration file: <br><tt>$ cd part1/me132_tutorial_player/configs</tt>
# Start up Player, using the test config file: <BR> <TT>$ player simple.cfg -p <your_RPIN></TT>
#* <TT>your_RPIN</TT> is your robot port ID number which you were already assigned.
#* You should see the Stage simulator and a simulated robot wandering around.

== Exercise #2: Running Player/Stage with Your Own Client Code (Controller) ==
In Exercise #1, we have seen the simulated robot wander around, but now let's make it move in a controlled fashion by inserting our own controller (referred to as the ''client code'').
# Follow the instructions as in Exercise #1, but this time use another config file:<BR> <TT>$ player lab0014.cfg -p <your_RPIN></TT>
# Open another terminal window. Connect to the server, and change to the directory containing the tutorial client code, e.g.:<BR><TT>$ cd part1/me132_tutorial_player </TT>
# Compile the C++ code to generate the binaries (i.e. executables). You only need to do this once, unless you change the source C++ code (<TT>.cc</TT> files): <BR><TT>$ make</TT> <BR>
# Run the following to start the client program. Take <TT>me132_tutorial_0</TT> as an example: <BR><TT>$ ./me132_tutorial_0 -p <your_RPIN></TT>
#*You should see the robot moving in a circle in the Stage simulator.
#* The reason that "./" (meaning "the current directory") is put before the executable is that Linux does not automatically look for the file in the current directory (unlike in Windows), so we need to explicitly tell its location.

== Exercise #3: Controlling the Robot Using Player and Client Code ==
'''IMPORTANT''': Read this before you come to the lab session.

In Exercise #2, we have made the robot move in a controlled fashion by inserting our client code. Now let us learn how to control a real robot using the same client code. You will only be able to do the following during the lab session, but it can save you a lot of precious lab time if you read this beforehand:
# When you are in the lab, connect to the lab wireless network ''Pandemonium''.
# SSH to the laptop and copy your code/binaries to the laptop. This is similar to connecting to the course server, but with a different username and remote address:
#* Username: me132
#* You will be using a laptop called "hilo" or "honolulu". Their IP addresses will be written on the board in the lab. You can access both laptops with the command <TT>ssh me132@IP Address</TT>.
# Go to the <TT>configs</TT> directory. Use <TT>pioneer2.cfg</TT> or <TT>pioneer2_laser.cfg</TT> (when there is a laser scanner onboard) as the config file to run Player:<br><tt>$ cd ~/configs </tt><BR> <TT>$ player pioneer2.cfg</TT><BR>or <BR> <TT>$ player pioneer2_laser.cfg</TT><BR>Both config files will be given during the lab session. Note we do not give a RPIN during the lab session. Instead, we use the default one for convenience, since there won't be any other active users.
# Open another terminal window. Connect to the laptop, and start your own client program as in Exercise #2. You should see the robot move in your desired fashion. For <tt>me132_tutorial_0</tt> to <tt>me132_tutorial_2</tt>, run them as before, but without the RPIN (to be consistent with Step 2). For <tt>me132_tutorial_3</tt>, you need to run it with one additional parameter, the '''camera ID''', which will be given during the lab session: <br><tt>$ ./me132_tutorial_3 <camera_id></tt><br> You will also need to copy the corresponding camera calibration file to the directory where <tt>me132_tutorial_3</tt> is located: <br><tt>$ cp ~/bb2_cal/<camera_id>.cal .</tt>

ME/CS 132a, Winter 2013, Lab 1 Sign-Up

2013-02-05T00:00:58Z

Yhhuang:

==Things to Do==
'''As an individual''':
* Check the list below for you username. Log into tokyo.cds.caltech.edu and change your password.

'''As a group (2-3 people)''':
* Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page and enter your Caltech IMSS account/password. Remember to fill in everyone's name in your group.

==Schedule for Lab Session==
{|border=1 width=70%
!colspan=2|9 Feb 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|2-2:30pm
|
|-
|3-3:30pm
|
|-
|4-4:30pm
|
|-
|5-5:30pm
|
|}

{|border=1 width=70%
!colspan=2|10 Feb 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|2-2:30pm
|
|-
|3-3:30pm
|
|-
|4-4:30pm
|
|-
|5-5:30pm
|
|-
|}

==RPIN Assignment==
<FONT color=RED>'''Note to students: Do NOT edit this section.''' </FONT>
{|border=1 width=80%
!colspan=3 width=40%|RPIN Assignment
!colspan=3 width=40%|RPIN Assignment
|-
|Name
|Username
|Port Number
|Name
|Username
|Port Number
|-
|<DEFAULT>
|
|6665
|Shir Aharon
|saharon
|7000
|-
|Diego Caporale
|jcaporal
|7001
|Annie Chin
|achin
|7002
|-
|Chris Dudiak
|cdudiak
|7003
|Matt Dughi
|mdughi
|7004
|-
|Kim Furuya
|kfuruya
|7005
|Hima Hassenruck-Gudipati
|hhassenr
|7006
|-
|Bryan He
|bryanhe
|7007
|Tiffany Huang
|tahuang
|7008
|-
|Greg Izatt
|gizatt
|7009
|Anum Jang Sher
|ajangshe
|7010
|-
|Cole Jenkins
|ljenkins
|7011
|Sam Jones
|sjones
|7012
|-
|Rebecca Lawler
|rlawler
|7013
|Tuling Ma
|tma
|7014
|-
|Tim Meyer
|tmeyer
|7015
|Judy Mou
|xmou
|7016
|-
|Richard O'Dowd
|rodowd
|7017
|Steven Okai
|sokai
|7018
|-
|Ben Razon
|brazon
|7019
|Russell Smith
|rssmith
|7020
|-
|Michael Sushkov
|msushkov
|7021
|Brian Thompson
|bthompso
|7022
|-
|Mariya Vasileva
|mvasilev
|7023
|Eric Wang
|ywang3
|7024
|-
|Paul Zhang
|pzhang
|7025
|Shiyu Zhao
|szzhao
|7026
|}

ME/CS 132a, Winter 2013, Lab 1 Sign-Up

2013-02-04T23:56:01Z

Yhhuang: Created page with "==Things to Do== '''As an individual''': * Check the list below for you username. Log into tokyo.cds.caltech.edu and change your password. '''As a group (2-3 people)''': * S..."

==Things to Do==
'''As an individual''':
* Check the list below for you username. Log into tokyo.cds.caltech.edu and change your password.

'''As a group (2-3 people)''':
* Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page and enter your Caltech IMSS account/password. Remember to fill in everyone's name in your group.

==Schedule for Lab Session==
{|border=1 width=70%
!colspan=2|9 Feb 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|2-2:30pm
|
|-
|3-3:30pm
|
|-
|4-4:30pm
|
|-
|5-5:30pm
|
|}

{|border=1 width=70%
!colspan=2|10 Feb 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|2-2:30pm
|
|-
|3-3:30pm
|
|-
|4-4:30pm
|
|-
|5-5:30pm
|
|-
|}

==RPIN Assignment==
<FONT color=RED>'''Note to students: Do NOT edit this section.''' </FONT>
{|border=1 width=80%
!colspan=3 width=40%|RPIN Assignment
!colspan=3 width=40%|RPIN Assignment
|-
|Name
|Username
|Port Number
|Name
|Username
|Port Number
|-
|<DEFAULT>
|
|6665
|Shir Aharon
|saharon
|
|-
|Diego Caporale
|jcaporal
|
|Annie Chin
|achin
|
|-
|Chris Dudiak
|cdudiak
|
|Matt Dughi
|mdughi
|
|-
|Kim Furuya
|kfuruya
|
|Hima Hassenruck-Gudipati
|hhassenr
|
|-
|Bryan He
|bryanhe
|
|Tiffany Huang
|tahuang
|
|-
|Greg Izatt
|gizatt
|
|Anum Jang Sher
|ajangshe
|
|-
|Cole Jenkins
|ljenkins
|
|Sam Jones
|sjones
|
|-
|Rebecca Lawler
|rlawler
|
|Tuling Ma
|tma
|
|-
|Tim Meyer
|tmeyer
|
|Judy Mou
|xmou
|
|-
|Richard O'Dowd
|rodowd
|
|Steven Okai
|sokai
|
|-
|Ben Razon
|brazon
|
|Russell Smith
|rssmith
|
|-
|Michael Sushkov
|msushkov
|
|Brian Thompson
|bthompso
|
|-
|Mariya Vasileva
|mvasilev
|
|Eric Wang
|ywang3
|
|-
|Paul Zhang
|pzhang
|
|Shiyu Zhao
|szzhao
|
|}

ME/CS 132a, Winter 2013

2013-02-02T05:23:31Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Thurs 4-5pm, Sun 9-10pm. Location: SFL 2-2 (subject to changes... see announcements)
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''2/1''': Office hours for the upcoming week will be Sun 9-10pm, Mon 5-6pm and Wed 9-10pm.
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|Overview of Range Sensors, Introduction to Lab 1
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation
|Thrun 1, 2
|Nick Hudson
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm - turn in set by emailing code and images to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set by emailing Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]

ME/CS 132a, Winter 2013

2013-02-02T00:14:29Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Thurs 4-5pm, Sun 9-10pm. Location: SFL 2-2
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture8.pdf Structure from motion and visual odometry]
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|Overview of Range Sensors, Introduction to Lab 1
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation
|Thrun 1, 2
|Nick Hudson
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm - turn in set by emailing code and images to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set by emailing Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]

ME/CS 132a, Winter 2013

2013-01-30T19:42:59Z

Yhhuang:

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Paul Hebert, Nick Hudson, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Yifei Huang (yifei.huang@caltech.edu)
* Ilya Nepomnyashchiy (ilyanep@caltech.edu)
* Office hours:
** Thurs 4-5pm, Sun 9-10pm. Location: SFL 2-2
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* '''1/15''': Problem Set 1 is now due Tue Jan 22. Also, there will be additional Office Hours this week only: Wed Jan 16 9-10pm in SFL 2-2.
* '''1/11''': Problem Set 1 has been posted. Also, fill out this doodle poll for office hour times before next week: http://doodle.com/k3itpfnzdhspyzbs
* '''1/10: Note about signing up for the mailing list: ''' Once you sign up, you will receive an email containing a confirmation link which you must go to in order to be on the mailing list. There are only 10 people signed up, so check that you did the confirmation step!
* There is a link under 'Course Texts' to Chapter 1 of Forsyth if you haven't bought the book yet. You will still need the book for all other chapters.
* First lecture on 1/8.

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There are two required textbooks:
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'' (2nd Edition), Prentice Hall, 2011.
** [http://www.cds.caltech.edu/~murray/courses/me132-wi12/caltech/Forsyth_1st_edition_ch1.pdf Chapter 1] (Caltech access only)
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.
Additionally, there is an optional textbook that is available as a free download
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Instructor
|-
|rowspan=2 align="center" | 1
|8 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
|Forsyth 2.1, 3.1, 3.2
|Larry Matthies
|-
|10 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
|Forsyth Ch. 1
|Larry Matthies
|-
|rowspan=2 align="center" | 2
|15 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
|Forsyth 3.3, 3.4, 3.5
|Larry Matthies
|-
|17 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture4.pdf Low Level Image Processing]
|Forsyth 4.1, 4.2, 4.5
|Roland Brockers
|-
|rowspan=2 align="center" | 3
|22 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
|Forsyth ch 5
|Roland Brockers
|-
|24 Jan (Th)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
|Forsyth ch 7
|Roland Brockers
|-
|rowspan=2 align="center" | 4
|29 Jan (Tu)
|[http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
|Forsyth 10.4, 11
|Yang Cheng
|-
|31 Jan (Th)
|Structure from motion and visual odometry
|Forsyth ch 8
|Adnan Ansar
|-
|rowspan=2 align="center" | 5
|5 Feb (Tu)
|Overview of Range Sensors, Introduction to Lab 1
|Forsyth ch 14
|Jeremy Ma
|-
|7 Feb (Th)
|No Class (Lab 1)
|
|
|-
|rowspan=2 align="center" | 6
|12 Feb (Tu)
|No Class (Lab 1)
|
|
|-
|14 Feb (Th)
|Introduction to Estimation
|Thrun 1, 2
|Nick Hudson
|-
|rowspan=2 align="center" | 7
|19 Feb (Tu)
|Linear Kalman Filter
|Thrun 3.2
|Nick Hudson
|-
|21 Feb (Th)
|Extended Kalman Filter
|Thrun 3.3
|Nick Hudson
|-
|rowspan=2 align="center" | 8
|26 Feb (Tu)
|Particle Filter and Unscented Kalman Filter
|Thrun 3.4
|Nick Hudson
|-
|28 Feb (Th)
|Vision and Space Systems
|
|Yang Cheng
|-
|rowspan=2 align="center" | 9
|5 Mar (Tu)
|Mapping, Introduction to Lab 2
|Thrun 9
|Jeremy Ma
|-
|7 Mar (Th)
|Intro to Lab 2
|
|
|-
|align="center" | 10
|12 Mar (Tu)
|No class (Lab 2)
|
|
|}

== Homework ==
Please pay attention to the [http://www.cds.caltech.edu/~yhhuang/homework/implementation_guidelines.pdf implementation guidelines] when writing code for homework.

*[http://www.cds.caltech.edu/~yhhuang/homework/homework1.pdf Homework 1] - Due: Tue Jan 22 at 11:59pm
**[http://www.cds.caltech.edu/~yhhuang/homework/Forsyth1.2_2ndEd.pdf Ch. 1.2 of Forsyth (2nd Edition)] - equations for problem 3
*[http://www.cds.caltech.edu/~yhhuang/homework/homework2.pdf Homework 2] - Due: Tue Jan 29 at 11:59pm - turn in set by emailing code and images to Ilya (ilyanep@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework2_images.zip Homework 2 Images]
*[http://www.cds.caltech.edu/~yhhuang/homework/homework3.pdf Homework 3] - Due: Thurs Feb 7 at 11:59pm - turn in set by emailing Yifei (yifei.huang@caltech.edu)
**[http://www.cds.caltech.edu/~yhhuang/homework/homework3_data.zip Homework 3 Data]

ME/CS 132a, Winter 2013

2013-01-28T22:35:15Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-28T22:26:13Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-25T04:59:37Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-24T20:17:50Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-24T07:37:25Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-18T03:33:34Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-18T00:44:45Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-18T00:25:27Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-17T23:06:47Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-16T01:40:34Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-16T01:33:42Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-15T00:46:22Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-15T00:45:55Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-15T00:44:11Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-14T20:42:38Z

Yhhuang:

ME/CS 132a, Winter 2013

2013-01-14T10:11:31Z

Yhhuang: