710.088+710.089 Robot vision (2 VO+1 KU, SS)

Lecturer: Friedrich Fraundorfer (fraundorfernoSpam@icg.tugraz.at)

Learn about 3D reconstruction from images as well as computer vision methods needed for mobile robotics.

 

Course description

The course is organized as a lecture and practical. It is advised to take both of them at the same time. To pass the lecture an exam has to be taken. Exam dates will be published in TUG-Online. The practical part is organized as programming assignments and carried out in groups of 2.

Lecture topics

  • Projective geometry
  • Image formation and camera calibration
  • Geometric algorithms (Fundamental matrix, Essential Matrix, Triangulation)
  • Robust estimation (Ransac)
  • Features and matching
  • SfM
  • VO and SLAM
  • Bundle adjustment
  • Stereo matching
  • Depth cameras

Practical part (710089)

The practical consist of programming assignments. The practical will be done as group work in groups of 2 students. There will be 3 assignments to be completed through the semester. The assignments need to be programmed in C/C++ with the help of the OpenCV computer vision library. The first assignment will be about camera calibration. The second assignment will be about feature matching and 2 view geometry estimation. The third assignment will be about PnP for camera pose estimation.

There will not be regular meetings for the practical. There will however be tutor hours prior to the assignment deadlines during the times published in TUG online.

The assignments will be available in the teach center and will also be handed out and discussed in the lecture slots.

Assignment schedule:

  • Assignment 1

    • Handout: 13.3.2019
    • Deadline: 29.4.2019

  • Assignment 2

    • Handout: 10.4.2019
    • Deadline: 20.5.2019

  • Assignment 3

    • Handout: 29.5.2019
    • Deadline: 24.6.2019

Grading

Grades for the lecture can be obtained by taking a written exam. Exam dates will be published in TUG-Online. The grades for the practical (710089) are independent of the lecture and will be determined based on the submitted programming assignments.

Times and dates:

  • First lecture will be in HS i11 on the 5.3.2019 14:30-16:00

Lecture slides: 

(slides will gradually appear here)

Lecture slides 2018: 

News: 

(website updated on 25.02.2019)