CIS 849 -- Autonomous Robot Vision

Fall, 2002

 


Course information

Readings

Schedule

Links

Data


 

Course information

 

Instructor

Christopher Rasmussen

E-mail: cer@cis.udel.edu

Office: 409 Smith 

Phone: 302-831-2783

Office hours: Wednesdays, 2-4 pm

Lab: 122 E. Delaware Ave.

 

Web page

www.cis.udel.edu/~cer/arv

 

Description

A survey of visual sensing algorithms for terrestrial and aerial mobile robots.  Feature detection, tracking, motion and structure estimation, landmark and obstacle recognition, panoramic imaging and mosaicing, mapping and localization, road following, and other key topics will be covered.

 

Schedule

Tuesdays & Thursdays from 5:00 pm to 6:15 pm in Smith 102A

 

Prerequisites

Ability to program in C/C++, Matlab, or the like

Thorough familiarity with linear algebra, calculus, probability, and statistics

 

Format

First 1/3 of classes: Review lectures on computer vision, robotics by professor

Last 2/3 of classes: Seminar-style paper presentations, discussions by students

 

Grading

10%: Two small programming assignments

30%: Two oral paper presentations + write-ups

10%: Class participation

50%: Major programming project

 

Academic

policies

 

Students may discuss problems with one another, but must work independently on writing and coding assignments (except with your partner on the first paper, of course).  This also applies to online and printed resources: consult them freely, but the words and source code you turn in must be yours alone.

Assignments should be e-mailed to me on the calendar day they are due (i.e., by midnight).

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Readings

 

Textbook

Computer Vision A Modern Approach,  D. Forsyth & J. Ponce [F & P]

 

Supplemental readings

Multiple View Geometry in Computer Vision, R. Hartley & A. Zisserman [H & Z]

Cambridge University Press, 2000

 

Introductory Techniques for 3-D Computer Vision, E. Trucco & A. Verri [T & V]

Prentice-Hall, 1998

 

Papers  

Image stabilization, mosaicing

Tracking

Object detection, recognition

Avoidance/Homing

Mapping, localization

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Schedule  

 

# Date Topic/Presenter Notes Readings Handouts
1 Sept. 5 Introduction       Lecture #1 [ppt]; Syllabus
2 Sept. 10 Review: Image Formation   F & P: Chapters 1, 3- 3.3.2 (through "HSV" section), 5-5.3.2, & 7.4 Lecture #2 [ppt]; DLT homography estimation (H & Z, pp. 71-3)
3 Sept. 12 Matlab tutorial     

Lecture #3 [ppt]; 

HW 1;
Presentation guidelines

4 Sept. 17 Review: Image Processing Register/Add Deadline F & P: Chapters 7, 8, 9.1, 10.1, 10.4  Lecture #4 [ppt]
5 Sept. 19 Professor presentation    Assignment #1 due "Video Mosaics for Virtual Environments"

 Lecture #5 [ppt];

Kalman filter preview

(T & V, pp. 328-31)

6 Sept. 24 Review: Motion & Estimation     

  F & P: Chapters 6, 11.1, 18;

H & Z: Chapter 8

Lecture #6 [ppt]; 

HW 2 

7 Sept. 26 Professor presentation    "Stochastic Road Shape Estimation"  Lecture #7 [ppt]
8 Oct. 1 Discussion of HW 2       Project guidelines
9 Oct. 3 Review: Classification   F & P: Chapters 15-15.3, 17.3, 20-20.4    Lecture #8 [ppt]
10 Oct. 8

Review: Miscellaneous

Assignment #2 due      Lecture #9 [ppt]
11 Oct. 10 Thommen Korah
Bill Ulrich
 Project proposal due   "Automatic Mosaic Creation of the Ocean Floor"  
12 Oct. 15 Joe Kirk
Chaitanya Ramineni
  "Appearance-Based Place Recognition for Topological Localization"   
Wei Zhou "Using the Condensation Algorithm for Robust, Vision-based Mobile Robot Localization"
13 Oct. 17 Min Li
Chaitra Gowri Murthy
  "Robust Car Tracking Using Kalman Filtering & Bayesian Templates"  
14 Oct. 22 Qi Li     "Precise Image-based Motion Estimation for Autonomous Small Body Exploration"  
15 Oct. 24 Chris Haase     "Vision-based Perception for an Autonomous Harvester"  
Ibrahim Halil Saruhan
Xiuman Zhu
"Vision-Guided Flight Stability & Control for Micro Air Vehicles"
16 Oct. 29 Review: Miscellaneous (continued) Withdrawal Deadline     
17 Oct. 31 Thommen Korah   "Real-Time Feature Tracking and Outlier Rejection with Changes in Illumination"  
Bill Ulrich "A Model of Saliency-based Visual Attention for Rapid Scene Analysis"
   Nov.5 NO CLASS Election Day     
18 Nov. 7 Joe Kirk   "Rapid Object Detection using a Boosted Cascade of Simple Features"  
Chaitanya Ramineni "Using the Condensation Algorithm to Implement Tracking for Mobile Robots"
19 Nov. 12

Wei Zhou

  "An HMM-based Segmentation Method for Traffic Monitoring Movies"  
Min Li "Robust Video Mosaicing through Topology Inference and Local to Global Alignment"
20 Nov. 14

Chaitra Gowri Murthy

   "Rapidly Adapting Machine Vision for Automated Vehicle Steering"  
Qi Li "Combining Textual and Visual Cues for Content-based Image Retrieval on the World Wide Web"
21 Nov. 19

Guest lecture:

Darius Burschka,

Johns Hopkins

       
22 Nov 21

Chris Haase

  "Super-Resolved Texture Tracking of Planar Surface Patches"  
Ibrahim Halil Saruhan "A Corridors Lights based Navigation System including Path Definition using a Topologically Corrected Map for Indoor Mobile Robots"
Xiuman Zhu "The Use of Geometric Hashing for Automatic Image Mosaicing"
23 Nov. 26

CLASS CANCELLED

Guest lecture:

David Coombs,

SAIC

 

    
   Nov. 28 NO CLASS Thanksgiving     
24 Dec. 3

Project presentations

Thommen Korah

Bill Ulrich

Joe Kirk

Projects due Mon., Dec. 2    Project notes
25 Dec. 5

CLASS CANCELLED BY UNIVERSITY DUE TO WEATHER

      
26 Dec. 10

Project presentations

Wei Zhou

Min Li

Chaitra Gowri Murthy

Qi Li

Chris Haase

Ibrahim Halil Saruhan

Xiuman Zhu

      

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Links

 

Other computer vision & robotics course homepages

Matlab links

 

Numerical Recipes in C

The Computer Vision Homepage

CVonline

Citeseer -- searchable index of online papers


Kalman Filters

Introduction to Image Mosaicing

FFTW -- Fast Fourier Transform C library

 

GRACE, the social robot

MAKRO, the sewer robot

USAR at USF

 

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Data

 

Polycamera images: Left, Center, Right

Road images (FITG, July 17, 2001)

Hallway ceiling movie: short, long

 

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