CS5350: Schedule

week of 1/9: projective and interactive geometry

Topic summary on the course homepage.

Mon HW0 out
Course Overview and Introductions

Tue HW0 due

Wed

  1. Jules Bloomenthal and Jon Rokne. Homogeneous Coordinates. Notes from the Department of Computer Science, The University of Calgary. Possible errata. Read beginning through “homogeneous lines”. Presenter: Vona.
  2. Ulrich Kortenkamp. Foundations of Dynamic Geometry. Ph.D. Thesis, Swiss Federal Institute of Technology Zurich, 1999. Possible errata. Read beginning through section 5.2. Presenter: Vona.
  3. Jorge Stolfi. Oriented projective geometry. Proceedings of the 3rd ACM Annual Symposium on Computational Geometry, pp 76—85, 1987. Read beginning through section 6.1. Presenter: Vona.
  4. optional: Wikipedia entry on homogeneous coordinates.

week of 1/16: projective and interactive geometry (continued)

Topic summary on the course homepage.

Mon MLK day

Wed

  1. Ulrich Kortenkamp. Foundations of Dynamic Geometry. Ph.D. Thesis, Swiss Federal Institute of Technology Zurich, 1999. Possible errata. Read chapters 6 and 7. Presenter: Vona.
  2. Jules Bloomenthal and Jon Rokne. Homogeneous Coordinates. Notes from the Department of Computer Science, The University of Calgary. Possible errata. Read section “conics”. Presenter: Vona.
  3. optional: Wikipedia entry on Euler’s formula in complex analysis. Note that there are a lot of formulas and other things named after Euler.

week of 1/23: 3D rotation and spatial pose

Topic summary on the course homepage.

Mon

  1. J. M. Selig. Introductory Robotics, Chapter 2: Rigid Transformations. Prentice Hall, 1992. Read full chapter. Presenter: Vona.
  2. Wikipedia entry on Rodrigues’ Rotation Formula. Presenter: Vona.
  3. Wikipedia entry on gimbal lock and YouTube videos by Stephen Seefeld and The Guerrilla CG Project. Presenter: Vona.
  4. Berthold K. P. Horn. Some Notes on Unit Quaternions and Rotation, 2001. Read full paper. Presenter: Vona.
  5. optional: Wikipedia entry on Euler’s rotation theorem. Note that there are a lot of formulas and other things named after Euler.

Wed HW1 out

  1. Ken Shoemake. Animating Rotation with Quaternion Curves. In Proceedings of SIGGRAPH, pp. 245–254, 1985. Possible errata. Read full paper. Presenter: Sheng You.
  2. F. Sebastian Grassia. Practical Parameterization of Rotations Using the Exponential Map. The Journal of Graphics Tools, Volume 3, Number 3, pp. 29—48, 1998. Possible errata. Read full paper. Presenter: Vona.

week of 1/30: computing motions of kinematic chains

Topic summary on the course homepage.

Mon

  1. J. M. Selig. “Introductory Robotics”, Chapters 4, 5, 6: Kinematics, Inverse Kinematics, Jacobians. Prentice Hall, 1992. Possible errata. Read all except sections 4.2, 4.4, 5.3—5.7, 6.4—6.6. Presenter: Nick Jutila.
  2. Wikipedia entry on Denavit-Hartenberg parameters and linked TekkotsuRobotics video. Read introduction and section 1 only. Presenter: Vona.
  3. Samuel R. Buss. Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse, and Damped Least Squares Methods. Preprint posted to the web, updated 2009. Read beginning through section 3. Presenter: Vona.

Wed

  1. Samuel R. Buss. Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse, and Damped Least Squares Methods. Preprint posted to the web, updated 2009. Read section 4 through end. Presenter: Vona.
  2. Paolo Baerlocher and Ronan Boulic. An inverse kinematics architecture enforcing an arbitrary number of strict priority levels. The Visual Computer, volume 20, pages 402—417, 2004. Read full paper. Presenter: Morteza Delgir.

week of 2/6: building spatial maps with quantified uncertainty

Topic summary on the course homepage.

Mon

  1. Bradski and Kaehler. “Learning OpenCV”, section on The Kalman Filter, pp. 350—364. O’Reilly, 2008. Possible errata. Read full section. Presenter: Vona.
  2. Wikipedia entry on Propagation of Uncertainty. Read full entry. Presenter(Vona).
  3. dinner
  4. Randall Smith, Matthew Self, and Peter Cheeseman. Estimating Uncertain Spatial Relationships in Robotics. In “Autonomous robot vehicles,” pp. 167—193, Springer-Verlag, 1990. Possible errata. Read up to and including section 4.2.1. Presenter: Henry Roth.

Wed

  1. Randall Smith, Matthew Self, and Peter Cheeseman. Estimating Uncertain Spatial Relationships in Robotics. In “Autonomous robot vehicles,” pp. 167—193, Springer-Verlag, 1990. Possible errata. Read section 4.2.2 to end. Presenter: Henry Roth.
  2. Thrun, Burgard, and Fox. “Probabilistic Robotics”, Chapter 10, SLAM, pp. 309—335. MIT Press, 2006. Possible errata. Read full chapter. Presenter(Vona).
  3. Wikipedia entry on Mahalanobis Distance. Read full entry. Presenter(Vona).

week of 2/13: stereo vision

Topic summary on the course homepage.

Mon

  1. Bradski and Kaehler. “Learning OpenCV”, sections on image transforms, pp. 162—164. O’Reilly, 2008. Read sections “Remap” and “Stretch, Shrink, Warp, Rotate”. Presenter: Vona.
  2. Bradski and Kaehler. “Learning OpenCV”, Chapter 11 Camera Models and Calibration, pp. 370—404. O’Reilly, 2008. Possible errata. Read full chapter. Presenter: Vona. Notes: (a) we will study the details of “subpixel corners” (middle paragraph on p. 383) next week, for now don’t worry about it; (b) the “Rodrigues Transform”, pp. 401—403, is just another name for the mapping we have already studied taking an exponential map vector to a orthogonal rotation matrix.

Tue HW1 due

Wed HW2 out

  1. Bradski and Kaehler. “Learning OpenCV”, sections on image transforms, pp. 164—173. O’Reilly, 2008. Read sections “Affine Transform” and “Perspective Transform”. Presenter: Wylie Conlon (see notes below)
  2. Bradski and Kaehler. “Learning OpenCV”, Chapter 12 Projection and 3D Vision, pp. 405—414. O’Reilly, 2008. Read beginning of chapter through section “POSIT: 3D Pose Estimation”. Presenter: Wylie Conlon (Note: the same person/pair will present both this and the prior reading for the day. Also, the presentation duty will include performing a live demonstration of the “birds eye view” example. We can provide you with a suitable USB camera.).
  3. Bradski and Kaehler. “Learning OpenCV”, Chapter 12 Projection and 3D Vision, pp. 415—458. O’Reilly, 2008. Possible errata. Read sections “Stereo Imaging” through “Sructure from Motion”. Presenter: Vona. Note: The sections on uncalibrated and calibrated stereo recification do not give enough detail, by themselves, to fully define the algorithms. Just try to get a high-level idea of what the algorithms are doing.

week of 2/20: visual feature tracking

Topic summary on the course homepage.

Mon President's Day

Wed

  1. Bradski and Kaehler. “Learning OpenCV”, sections on convolution and Sobel derivatives, pp. 144—149. O’Reilly, 2008. Read beginning of chapter through section “Gradients and Sobel Derivatives”. Presenter: Jon Millman (See note below.).
  2. Bradski and Kaehler. “Learning OpenCV”, sections on smoothing, image pyramids, and thresholding pp. 109—114, 130—135, and 135—141. O’Reilly, 2008. Read all assigned sections. Presenter: Jon Millman (Note: the same person/pair will present both this and the prior reading for the day.).
  3. dinner

week of 2/27: visual feature tracking (continued)

Topic summary on the course homepage.

Mon

  1. Bradski and Kaehler. “Learning OpenCV”, sections on tracking, corner finding, subpixel corners, and invariant features, pp. 316—322. O’Reilly, 2008. Possible errata. Read all assigned sections. Presenter: Vona. Note: the description of Harris corners on pp. 317—318 has issues, pls see errata.

  2. Wikipedia sections on Moravec and Harris corners. Presenter: Vona.

  3. Bradski and Kaehler. “Learning OpenCV”, sections on Lucas-Kanade optical flow, pp. 322–334. O’Reilly, 2008. Read sections “Optical Flow” and “Lucas-Kanade Method”. Presenter: Aadit Shah.

Tue HW2 due

Wed HW3 out

  1. Rosten and Drummond. Machine learning for high-speed corner detection. In Proceedings of the 9th European Conference on Computer Vision (ECCV’06), 2006. Read full paper. Presenter: Vona.

week of 3/5: spring break

Mon spring break

Wed spring break

week of 3/12: monocular SLAM and PTAM

Topic summary on the course homepage.

Mon

  1. Klein and Murray. Parallel Tracking and Mapping for Small AR Workspaces (videos). In Proceedings of the International Symposium on Mixed and Augmented Reality (ISMAR), 2007. Read beginning through section 5 “Tracking”. Presenter: Vona.
  2. Dombi. Using Biweights for Handling Outliers. Posted on the web. Read the first three pages, which are a reasonable introduction to the Tukey biweight. Presenter: Ryan Koh (Note: the same person/pair will present both this and RANSAC reading on weds.).

Wed

  1. Klein and Murray. Parallel Tracking and Mapping for Small AR Workspaces (videos). In Proceedings of the International Symposium on Mixed and Augmented Reality (ISMAR), 2007. Read section 6 “Mapping” to end. Presenter: Vona.
  2. Wikipedia entry on RANSAC. Presenter: Ryan Koh.

Fri term project proposals due

week of 3/19: real-time dense scene modeling

Topic summary on the course homepage.

Mon

  1. Newcombe, Izadi, Hilliges, Molyneaux, Kim, Davison, Kohli, Shotton, Hodges, Fitzgibbon. KinectFusion: Real-Time Dense Surface Mapping and Tracking (video). Proceedings of IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2011. Read full paper. Presenter: Vona.
  2. Optional: Newcombe, Davidson. Live Dense Reconstruction with a Single Moving Camera (video). IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2010.
  3. Optional: Newcombe, Lovegrove, Davison. DTAM: Dense Tracking and Mapping in Real-Time (video). IEEE International Conference on Computer Vision (ICCV), 2011.
  4. mini-field trip to physical systems lab for kinfu demo

Tue HW3 due

Wed

  1. Segal, Haehnel, Thrun. Generalized-ICP. Proceedings of Robotics: Science and Systems (RSS), 2009. Read full paper. Presenter: Jessica Lowell.
  2. Izadi, Kim, Hilliges, Newcombe, Molyneaux, Kohli, Shotton, Hodges, Freeman, Davidson. KinectFusion: Real-time 3D Reconstruction and Interaction (video). Proceedings ACM User Interface and Software Technologies (UIST), 2011. Read “GPU Implementation” through “Raycasting for Rendering and Tracking”. Presenter: Vona.
  3. dinner
  4. Izadi, Kim, Hilliges, Newcombe, Molyneaux, Kohli, Shotton, Hodges, Freeman, Davidson. KinectFusion: Real-time 3D Reconstruction and Interaction (video). Proceedings ACM User Interface and Software Technologies (UIST), 2011. Read all other sections. Presenter: Wylie Conlon.

week of 3/26: collision detection

Topic summary on the course homepage.

Mon

  1. Akenine-Möller and Haines. Real-Time Rendering, 2nd Ed., Chapter 13 “Intersection Test Methods”. AK Peters Press, 2002. Read beginning of chapter through 13.4 (skip 13.1, skim 13.3). Presenter: Vona.
  2. Akenine-Möller and Haines. Real-Time Rendering, 2nd Ed., Chapter 13 “Intersection Test Methods”. AK Peters Press, 2002. Read 13.5—13.7 (skip 13.6.2). Presenter: Jonathan Millman.
  3. Akenine-Möller and Haines. Real-Time Rendering, 2nd Ed., Chapter 13 “Intersection Test Methods”. AK Peters Press, 2002. Skim 13.8 through end of chapter. Presenter: Vona.

Wed

  1. Akenine-Möller and Haines. Real-Time Rendering, 2nd Ed., Section 9.1 “Spatial Data Structures”. AK Peters Press, 2002. Read 9.1—9.1.3. Presenter: Morteza Delgir.
  2. Akenine-Möller and Haines. Real-Time Rendering, 2nd Ed., Chapter 14 “Collision Detection”. AK Peters Press, 2002. Read beginning of chapter through 14.2. Presenter: Nicholas Jutila.
  3. Akenine-Möller and Haines. Real-Time Rendering, 2nd Ed., Chapter 14 “Collision Detection”. AK Peters Press, 2002. Read 14.3,14.4,14.6, skim 14.7 through end of chapter. Presenter: Vona.

week of 4/2: tracking people

Topic summary on the course homepage.

Mon

  1. Shotton, Fitzgibbon, Cook, Sharp, Finocchio, Moore, Kipman, Blake. Real-Time Human Pose Recognition in Parts from a Single Depth Image (video). IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2011, pp. 1297–1304. Read full paper. Presenter: Vona.
  2. Optional: extra references linked from the OpenKinect website.
  3. Kinect demo and programming overview. Presenter: Ryan Koh (Note: we can provide a Kinect.).

Wed

  1. Oikonomidis, Kyriazis, Argyros. Efficient Model-based 3D Tracking of Hand Articulations using Kinect (video). Proceedings of the British Machine Vision Conference (BMVC), 2011. Read full paper. Presenter: Aadit Shah.
  2. dinner and term project work time

week of 4/9: detecting surface patches

Topic summary on course homepage.

Mon

  1. Jiang and Bunke. Fast Segmentation of range images into planar regions by scan line grouping. Machine Vision and Applications, Volume 7, Number 2, 1994, pp. 115–122. Read full paper. Presenter: Sheng You.
  2. Optional: Marsette Vona, Dimitrios Kanoulas. Curved Surface Contact Patches with Quantified Uncertainty (videos). IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011, pp. 1439–1446. Presenter: Vona.
  3. project work time

Wed

  1. Gutmann, Fukuchi, Fujita. 3D Perception and Environment Map Generation for Humanoid Robot Navigation. International Journal of Robotics Research, Volume 27, Issue 10, 2008, pp. 1117—1134. Read sections 2–4. Presenter: Jessica Lowell.
  2. Gutmann, Fukuchi, Fujita. 3D Perception and Environment Map Generation for Humanoid Robot Navigation. International Journal of Robotics Research, Volume 27, Issue 10, 2008, pp. 1117—1134. Read all other sections. Presenter: Vona.
  3. project work time

week of 4/16: term project presentations

Mon Patriot's Day

Wed term project due

  1. term project presentations
  2. dinner
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