photogrammetry & robotics lab autonomous mobile systems photogrammetry & robotics lab course...

Photogrammetry & Robotics Lab Autonomous Mobile Systems Photogrammetry & Robotics Lab Course Introduction
Photogrammetry & Robotics Lab Autonomous Mobile Systems Photogrammetry & Robotics Lab Course Introduction
Photogrammetry & Robotics Lab Autonomous Mobile Systems Photogrammetry & Robotics Lab Course Introduction
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  • 1

    Photogrammetry & Robotics Lab

    Course Introduction

    Cyrill Stachniss

    2

    Autonomous Mobile Systems

    3

    Two Fundamental Questions in Mobile Robotics

    What is the state of the world?

    Which action to execute?

    State Estimation

    Action Selection 4

    Focus of this Couse

    What is the state of the world?

    State Estimation

    Focus on Geometric Estimation

    What does the world look like and where is the robot?

  • 5

    Topics & Planned Schedule §  1st half of the term: Stachniss & Chebrolu §  2nd half of the term: Klingbeil & Kuhlmann

    Part 1 Stachniss §  Least squares §  Graph-based SLAM §  Pose-graphs and landmarks §  Robust optimization for SLAM §  Camera models §  Relative orientation of the image pair §  Fundamental and essential matrix: F & E

    6

    People

    Cyrill Stachniss

    Nived Chebrolu

    7

    Lectures, Exercises, and Exam

    §  Lectures as video recording §  Tutorials & questions via Zoom §  Homework assignments §  Deadlines: see assignment sheet §  Oral exam

    8

    Homework Assignments

    §  Deadline given on the assignments §  Exam admission: 50% of the points

    of the homework assignments §  Coding is an essential part of the

    homework assignments §  Submission in groups of 2 students §  Assignment/submission via eCampus §  Limit collaboration among groups

    (zero tolerance on plagiarism)

  • 9

    Problems?

    §  In case of problems, please contact me or Nived Chebrolu via Email:

    §  Cyrill Stachniss cyrill.stachniss@igg.uni-bonn.de

    §  Nived Chebrolu nived.chebrolu@uni-bonn.de

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