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Home Teaching Summer Semester 2015 Practical Course: Vision-based Navigation (6h SWS / 10 ECTS)

Practical Course: Vision-based Navigation (6h SWS / 10 ECTS)

SS 2015, TU München

Organizers: Dr. Jörg Stückler, Vladyslav Usenko, Jakob Engel, Prof. Dr. Daniel Cremers

Please direct questions to visnav15@vision.in.tum.de

Date & Location

Lecture & exercises (assignment phase) : Mondays, lectures approx. 1pm to 3pm in seminar room 02.09.023, tutoring of exercises approx. 3pm to 5pm in lab 02.05.014, (first session: April 13th, 2015)
Tutored lab time (project phase) : Mondays from 1pm to 5pm in lab 02.05.014 (other times for free project work available, tbd)
Pre-meeting: Wednesday, January 28th, 1 pm c.t., seminar room 02.09.023. Slides available here

Course Structure

The course will take place in our seminar room 02.09.023 and in our lab. In the beginning phase (4-5 weeks), there will be introductory lectures in our seminar room. Programming assignment sheets on basic problems will be handed out every week. In a second phase, the students will work in teams of 2-3 students on a practical problem (project). For the rest of the semester, the group meets weekly with their tutors and presents and discusses their progress. At the end of the course, the teams will present their project in a talk and demonstrate their solutions. They will document their project work in a written report. Both the assignments and the project part will be graded, and a final grade will be obtained from that.

For more details see Course Layout below.

Course Registration

Requirements:

  • Good knowledge of the C/C++ language and basic mathematics such as linear algebra, analysis, and numerics is required
  • Prior practical knowledge in CUDA programming, robotics, and computer vision topics is a plus
  • Participation in at least one of the following lectures of the TUM Computer Vision Group: Variational Methods for Computer Vision, Multiple View Geometry, Autonomous Navigation for Flying Robots. Similar lectures can also be accepted, please contact us.

Number of participants: max. 15

Course Description

Vision-based localization, mapping, and navigation has recently seen tremendous progress in computer vision and robotics research. Such methods already have a strong impact on applications in fields such as robotics and augmented reality.

In this course, students will develop and implement algorithms for visual navigation. For example, vision-based autonomous navigation for platforms such as wheeled robots and quadrocopters, or vision-based localization and mapping with handheld devices will be tackled. This includes, e.g., simultaneous localization and mapping with monocular, stereo, or RGB-D cameras, (semi-)dense 3D reconstruction, obstacle perception and avoidance, or autonomous path planning and execution.

Course Layout

  • Lecture & Exercise (tba): 2 hours per week lecture session, Mondays from 1pm to 3pm. 2 hours per week tutored exercises, Mondays from 3pm to 5pm. There are 4-5 lecture & exercise sessions. Each week, the exercise for the following week will be announced and the exercise of the current week will be presented to tutors. The exercises must be done in groups of 2–3 students. The groups should be formed on the first lecture day. Students can use our lab computers in room 02.05.014. Attendance is mandatory.
  • Project (tba): Each group will be assigned to a project. Students can work in the lab and consult the tutors on Mondays from 1pm to 5pm. Additional lab time for working freely can be arranged.
  • Presentation and demo (tba): Each group will be assigned a time slot on one of the last days of the semester, to present their results and give a live demo, followed by a Q&A session.
  • Project Report: Each group writes a report on their project work (10-12 pages, single column, single-spaced lines, 11pt font size).

Literature

Lecture notes:

Selected publications:

  • LSD-SLAM: Large-Scale Direct Monocular SLAM (J. Engel, T. Schöps, D. Cremers), In European Conference on Computer Vision (ECCV), 2014.
  • Semi-Dense Visual Odometry for AR on a Smartphone (T. Schöps, J. Engel, D. Cremers), In International Symposium on Mixed and Augmented Reality, 2014.
  • Visual-Inertial Navigation for a Camera-Equipped 25g Nano-Quadrotor (O. Dunkley, J. Engel, J. Sturm, D. Cremers), In IROS2014 Aerial Open Source Robotics Workshop, 2014.
  • Collision Avoidance for Quadrotors with a Monocular Camera (H. Alvarez, L.M. Paz, J. Sturm, D. Cremers), In Proc. of The 12th International Symposium on Experimental Robotics (ISER), 2014.

Slides

Additional material can be downloaded from here.

Last edited 13.04.2015 17:32 by Jörg Stückler