CS7380 F10: Schedule

week of 9/13: projective and interactive geometry

Topic summary on the course homepage.

• Tuesday 9/14
  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 7. Presenter: Vona.
  4. optional: Wikipedia entry on homogeneous coordinates.
• Friday 9/17
  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 9/20: 3D rotation and spatial pose

Topic summary on the course homepage.

• Tuesday 9/21
  1. J. M. Selig. Introductory Robotics, Chapter 2: Rigid Transformations. Prentice Hall, 1992. Read full chapter. Presenter: Vona.
  2. Wikipedia entry on gimbal lock and YouTube videos by Stephen Seefeld and The Guerrilla CG Project. Presenter: Vona.
  3. Berthold K. P. Horn. Some Notes on Unit Quaternions and Rotation, 2001. Read full paper. Presenter: Vona.
  4. optional: Wikipedia entry on Euler’s rotation theorem. Note that there are a lot of formulas and other things named after Euler.
• Friday 9/24
  1. Ken Shoemake. Animating Rotation with Quaternion Curves. In Proceedings of SIGGRAPH, pp. 245–254, 1985. Possible errata. Read full paper. Presenter: Amicangelo and Quinn.
  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 9/27: kinematics

Topic summary on the course homepage.

• Tuesday 9/28
  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: Asadi.
     
  2. 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.
• Friday 10/1
  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: Cansizoglu.
  3. HW1 out (due 11:45am Friday 10/15)

week of 10/4: classic SLAM and the Kalman filter

Topic summary on the course homepage. This week we will focus only on classic SLAM (simultaneous localisation and mapping) and the Kalman filter. Later we will do a separate unit specifically on monocular SLAM, including PTAM.

• Tuesday 10/5
  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 up to and including section 4.2.1. Presenter: Kanoulas.
  2. lunch
  3. Bradski and Kaehler. “Learning OpenCV”, section on The Kalman Filter, pp. 350—364. O’Reilly, 2008. Possible errata. Read full section. Presenter: Vona.
• Friday 10/8
  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: Kanoulas.
  2. Zunino. Simultaneous Localization and Mapping for Navigation in Realistic Environments. Licentiate Thesis, KTH, Sweeden, 2002. Possible errata. Read Chapters 2, 3, 4. Presenter: Wilkerson.

week of 10/11: stereo vision

Topic summary on the course homepage. PTAM uses only one camera, however, it moves through space. The algorithm is thus able to estimate the location of points by nearly the same approach as if there were originally two cameras separated by a baseline, as in “normal” stereo vision—it treats images taken from two (or more) different locations (at different times, of course) as if they were stereo pairs.

• Tuesday 10/12
  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:
     • we will study the details of “subpixel corners” (middle paragraph on p. 383) next week, for now don’t worry about it
     • 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.
• Friday 10/15
  1. Bradski and Kaehler. “Learning OpenCV”, sections on image transforms, pp. 164—173. O’Reilly, 2008. Read sections “Affine Transform” and “Perspective Transform”. Presenter: Callado (See note 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: Callado (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 end of chapter “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.
  4. HW1 due 11:45am
  5. lunch

week of 10/18: visual feature detection and tracking

Topic summary on the course homepage.

• Tuesday 10/19
  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: Asadi (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: Asadi (Note: the same person/pair will prsent both this and the prior reading for the day.).
  3. 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.
• Friday 10/22
  1. 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: Elliott.
  2. 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.
  3. term project proposals due 11:45am
  4. HW2 out (due 11:45am Friday 10/29)

week of 10/25: Parallel Tracking and Mapping (PTAM)

Topic summary on the course homepage. This week we will put together much of the prior material we have studied: representation and numerical optimization of spatial poses, SLAM, stereo vision, and visual feature detection. These topics all play key roles in the specific area of monocular SLAM, which is the SLAM problem using only a single moving video camera. In particular we will study the parallel tracking and mapping (PTAM) system developed by Klien and Murray for augmented reality.

• Tuesday 10/26
  1. Engels, Stewénius, and Nistér. Bundle Adjustment Rules. In Photogrammetric Computer Vision (PCV’06), 2006. Read full paper. Presenter: Vona.
  2. Klein and Murray. Parallel Tracking and Mapping for Small AR Workspaces. In Proceedings of the International Symposium on Mixed and Augmented Reality (ISMAR), 2007. Read beginning through section 5 “Tracking”. Presenter: Vona.
  3. optional: Dombi. Using Biweights for Handling Outliers. Posted on the web. The first three pages are a reasonable introduction to the Tukey biweight, which is used in a few places by Klein and Murray.
• Friday 10/29
  1. Klein and Murray. Parallel Tracking and Mapping for Small AR Workspaces. In Proceedings of the International Symposium on Mixed and Augmented Reality (ISMAR), 2007. Read section 6 “Mapping” to end. Presenter: Vona.
  2. optional: Wikipedia entry on RANSAC, which is also used in a few places by Klein and Murray.
  3. HW2 due 11:45am
  4. HW3 out (due 11:45am Friday 11/12)

week of 11/1: work week

This week you should put in some serious time starting your term projects. We will use both class meetings to begin this work, with help available from the course staff. You may also work on HW3, but you should be ready to talk with the course staff about your term project.

• Tuesday 11/2
  1. Work Day!
  2. lunch
• Friday 11/5
  1. Work Day!
  2. lunch

week of 11/8: collision detection

Topic summary on the course homepage.

• Tuesday 11/9
  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 (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. Presenter: Zhang.
  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: Heaney.
• Friday 11/12
  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: Vona.
  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: Vona.
  3. Akenine-Möller and Haines. Real-Time Rendering, 2nd Ed., Chapter 14 “Collision Detection”. AK Peters Press, 2002. Read 14.3—14.6. Presenter: Vona.
  4. Akenine-Möller and Haines. Real-Time Rendering, 2nd Ed., Chapter 14 “Collision Detection”. AK Peters Press, 2002. Skim 14.7 through end of chapter. Presenter: Vona.
  5. HW3 due 11:45am

week of 11/15: detecting surface patches

Topic summary on course homepage.

• Tuesday 11/16
  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: Kanoulas.
• Friday 11/19
  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 full paper. Presenter: Vona.

week of 11/22: Person/Face Detection and Tracking

Topic summary on the course homepage.

• Tuesday 11/23
  1. Wikipedia entry on Eigenfaces. Read full entry. Presenter: Wilkerson.
  2. A. Roy-Chowdhury and Y. Xu Face Tracking, Encyclopedia of Biometrics, 2009. Read full article. Presenter: Cansizoglu.
  3. I.C. Albitar, P. Graebling, and C. Doignon. Robust Structured Light Coding for 3D Reconstruction, IEEE International Conference on Computer Vision (ICCV), 2007. Skim full paper. Presenter: Ring. Note: The presentation will be on 3D reconstruction and applications in human motion tracking. The assigned paper is representative but not necessarily the same as the technology used for these purposes in Microsoft Kinect. Optional readings: US patent applications 20100118123 and 20100199228.
• Friday 11/26
  • no class

week of 11/29: spatial relations and text-to-scene

Topic summary on course homepage.

• Tuesday 11/30
  1. Coyne and Sproat. WordsEye: An Automatic Text-to-Scene Conversion system. SIGGRAPH 2001, pp. 487—496. Read full paper. Presenter: Amicangelo.
  2. Work time.
  3. lunch
• Friday 12/3
  1. Liu. Script visualization (ScriptViz): a smart system that makes writing fun. Soft Computing—A Fusion of Foundations, Methodologies and Applications, Volume 10, Issue 1, 2006, pp. 34—40. Read full paper. Presenter: Vona.
  2. Work time.

week of 12/6: term project presentations

• Tuesday 12/7
  1. term project presentations
  2. lunch
• Friday 12/10
  1. no class
  2. term project due 11:45am

this page subject to change  |  last updated Thu Mar 15 11:40:41 EDT 2012  |  course homepage