Difference between revisions of "ME/CS 132a, Winter 2015"

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== Homework ==
== 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)]

Revision as of 11:37, 6 January 2015

Introduction to Vision-based Robot Navigation


  • Larry Matthies (coordinator), lhm@jpl.nasa.gov
  • Roland Brockers, Brandon Rothrock, Thomas Fuchs, Stephan Weiss, Michael Ryoo
  • Lectures: Tue/Thu, 1:00-2:30 pm, 105 Annenberg
  • Office hours: After class/by appointment

Teaching Assistants (me132-tas@caltech.edu)

  • Lu Li plus TBD
  • Office hours:
    • TBD

Course Mailing List: me132-students@caltech.edu (sign up)


  • First lecture on 1/6.

Course Information


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.


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

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

Week Date Topic Reading Instructor
1 6 Jan (Tu) Course Overview, Illumination, Radiometry Forsyth 2.1, 3.1, 3.2 Larry Matthies
8 Jan (Th) Cameras and Calibration Forsyth Ch. 1 Larry Matthies
2 13 Jan (Tu) Radiometry, Reflectance, and Color Forsyth 3.3, 3.4, 3.5 Larry Matthies
15 Jan (Th) Low Level Image Processing Forsyth 4.1, 4.2, 4.5 Roland Brockers
3 20 Jan (Tu) Feature Detection and Matching Forsyth ch 5 Roland Brockers
22 Jan (Th) Stereo Vision Forsyth ch 7 Roland Brockers
4 27 Jan (Tu) Tracking and Outlier Detection Forsyth 10.4, 11 Yang Cheng
29 Jan (Th) Structure from motion and visual odometry Forsyth ch 8 Adnan Ansar
5 3 Feb (Tu) Overview of Range Sensors, Introduction to Lab 1 Forsyth ch 14 Jeremy Ma
5 Feb (Th) No Class (Lab 1)
6 10 Feb (Tu) No Class (Lab 1)
12 Feb (Th) Introduction to Estimation, Notes on Estimation Thrun 1, 2 Paul Hebert
7 17 Feb (Tu) Linear Kalman Filter, Notes on Kalman Filters, Car example, Moon Lander example Thrun 3.2 Nick Hudson
19 Feb (Th) Extended Kalman Filter, EKF example, UKF example Thrun 3.3 Nick Hudson
8 24 Feb (Tu) Particle Filter and Unscented Kalman Filter, Particle Filter Notes Thrun 3.4 Nick Hudson
26 Feb (Th) Vision and Space Systems Yang Cheng
9 3 Mar (Tu) Examples, Intro to Mapping, Paper on LS3 Robot Paper on Mapping Thrun 9 Jeremy Ma
5 Mar (Th) Occupancy Grid Maps, Intro to Lab 2
10 10 Mar (Tu) No class (Lab 2)