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 == Lecture Notes ==   == Lecture Notes == 
−  { border=1 width=85%
 +  Coming... 
−  Week
 
−  Date
 
−  Topic
 
−  Reading
 
−  Instructor
 
−  
 
−  rowspan=2 align="center"  1
 
−  6 Jan (Tu)
 
−  [http://www.cds.caltech.edu/~yhhuang/lectures/lecture1.pdf Course Overview, Illumination, Radiometry]
 
−  Forsyth 2.1, 3.1, 3.2
 
−  Larry Matthies
 
−  
 
−  8 Jan (Th)
 
−  [http://www.cds.caltech.edu/~yhhuang/lectures/lecture2.pdf Cameras and Calibration]
 
−  Forsyth Ch. 1
 
−  Larry Matthies
 
−  
 
−  rowspan=2 align="center"  2
 
−  13 Jan (Tu)
 
−  [http://www.cds.caltech.edu/~yhhuang/lectures/lecture3.pdf Radiometry, Reflectance, and Color]
 
−  Forsyth 3.3, 3.4, 3.5
 
−  Larry Matthies
 
−  
 
−  15 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
 
−  20 Jan (Tu)
 
−  [http://www.cds.caltech.edu/~yhhuang/lectures/lecture5.pdf Feature Detection and Matching]
 
−  Forsyth ch 5
 
−  Roland Brockers
 
−  
 
−  22 Jan (Th)
 
−  [http://www.cds.caltech.edu/~yhhuang/lectures/lecture6.pdf Stereo Vision]
 
−  Forsyth ch 7
 
−  Roland Brockers
 
−  
 
−  rowspan=2 align="center"  4
 
−  27 Jan (Tu)
 
−  [http://www.cds.caltech.edu/~yhhuang/lectures/lecture7.pdf Tracking and Outlier Detection]
 
−  Forsyth 10.4, 11
 
−  Yang Cheng
 
−  
 
−  29 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
 
−  3 Feb (Tu)
 
−  [http://www.cds.caltech.edu/~yhhuang/lectures/lecture9.pdf Overview of Range Sensors, Introduction to Lab 1]
 
−  Forsyth ch 14
 
−  Jeremy Ma
 
−  
 
−  5 Feb (Th)
 
−  No Class (Lab 1)
 
−  
 
−  
 
−  
 
−  rowspan=2 align="center"  6
 
−  10 Feb (Tu)
 
−  No Class (Lab 1)
 
−  
 
−  
 
−  
 
−  12 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
 
−  17 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
 
−  
 
−  19 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
 
−  24 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
 
−  
 
−  26 Feb (Th)
 
−  Vision and Space Systems
 
−  
 
−  Yang Cheng
 
−  
 
−  rowspan=2 align="center"  9
 
−  3 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
 
−  
 
−  5 Mar (Th)
 
−  [http://www.cds.caltech.edu/~yhhuang/lectures/lecture15.pdf Occupancy Grid Maps, Intro to Lab 2]
 
−  
 
−  
 
−  
 
−  align="center"  10
 
−  10 Mar (Tu)
 
−  No class (Lab 2)
 
−  
 
−  
 
−  }
 
   
 == Homework ==   == Homework == 
 Coming...   Coming... 
Revision as of 11:40, 6 January 2015
Introduction to Visionbased Robot Navigation

Instructors
 Larry Matthies (coordinator), lhm@jpl.nasa.gov
 Roland Brockers, Brandon Rothrock, Thomas Fuchs, Stephan Weiss, Michael Ryoo
 Lectures: Tue/Thu, 1:002:30 pm, 105 Annenberg
 Office hours: After class/by appointment
 
Teaching Assistants (me132tas@caltech.edu)
 Lu Li plus TBD
 Office hours:
Course Mailing List: me132students@caltech.edu (sign up)

Announcements
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 weeklong 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 weeklong 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 23 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
We will not closely follow any single textbook. Good references for the course material include:
 David A. Forsyth and Jean Ponce, Computer Vision: A Modern Approach (2nd Edition), Prentice Hall, 2011.
 Richard Szeliski, Computer Vision: Algorithms and Applications, Springer, 2010.
 Sebastian Thrun, Wolfram Burgard, and Dieter Fox, Probabilistic robotics, MIT Press, 2005.
Lecture Notes
Coming...
Homework
Coming...