CISC849 S2014
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Contents
Course information
| Title | CISC849 Autonomous Robot Vision |
| Shortened URL | http://goo.gl/PddFVX |
| Description | Survey of color camera, depth camera (e.g., Kinect), and laser range-finder-based 2-D and 3-D sensing algorithms for mobile robot navigation and interaction, including feature tracking for motion estimation, obstacle segmentation, terrain modeling, and object recognition. An organizing theme will be humanoid robots for disaster response as embodied by the ongoing DARPA Robotics Challenge. |
| When | Tuesdays and Thursdays, 11-12:15 pm |
| Where | Smith 102A |
| Instructor | Christopher Rasmussen, 446 Smith Hall, cer@cis.udel.edu |
| Office hours | Tuesdays and Thursdays, 3:30-4:15 pm |
| Grading |
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| Academic policies | Programming projects are due by midnight of the deadline day (with a grace period of a few hours afterward...after sunrise is definitely late). A late homework is a 0 without a valid prior excuse. To give you a little flexibility, you have 6 "late days" to use on homeworks to extend the deadline by one day each without penalty. No more than three late days may be used per assignment. Late days will automatically be subtracted, but as a courtesy please notify the instructor in an e-mail of your intention to use late days before the deadline. See submission instructions below.
Students can discuss problems with one another in general terms, but must work independently on programming assignments. This also applies to online and printed resources: you may consult them as references (as long as you cite them), but the words and source code you turn in must be yours alone. The University's policies on academic dishonesty are set forth in the student code of conduct here. |
| Homeworks | Assignment submissions should consist of a directory containing all code (your .cpp files, makefile, etc.), any output data generated (e.g., images, movies, etc.), and an explanation of your approach, what worked and didn't work, etc. contained in a separate text or HTML file. Do not submit executables or .o files, please! The directory you submit for each assignment should be packaged by tar'ing and gzip'ing it or just zip'ing it. The resulting file should be submitted through Sakai.
You may develop your C/C++ code in any fashion that is convenient--that is, with any compiler and operating system that you want. However, we will be grading your homework on a Linux system with a makefile, and so you must avoid OS- and hardware-specific functions and provide a makefile for us that will work (like one of the templates above). |
Possible Papers to Present (not a complete list)
- (taken) "Collaborative mapping of an earthquake-damaged building via ground and aerial robots", N. Michael et al., JFR 2012. UAV, UGV, disaster, mapping
- "Vision Based Victim Detection from Unmanned Aerial Vehicles", M. Andriluka et al., IROS 2010. UAV, person detection
- (taken) "Biped Navigation in Rough Environments using On-board Sensing", J. Chestnutt, Y. Takaoka, K. Suga, K. Nishiwaki, J. Kuffner, and S. Kagami, IROS 2009. Footstep planning, ladar, plane fitting
- (taken) "Real-Time Navigation in 3D Environments Based on Depth Camera Data", D. Maier, A. Hornung, and M. Bennewitz, Humanoids 2012. RGB-D, localization, mapping, planning
- "Robotic Grasping of Novel Objects using Vision", A. Saxena, J. Driemeyer, A. Ng, IJRR 2008. Grasping, learning
- (taken) "Self-supervised Monocular Road Detection in Desert Terrain", H. Dahlkamp, A. Kaehler, D. Stavens, S. Thrun, and G. Bradski, 2006. DARPA GC, color similarity, segmentation
- (taken) "Multi-Sensor Lane Finding in Urban Road Networks", A. Huang, D. Moore, M. Antone, E. Olson, S. Teller, RSS 2008. DARPA UC, edge detection, robust curve fitting, tracking
- "High fidelity day/night stereo mapping with vegetation and negative obstacle detection for vision-in-the-loop walking", M. Bajracharya et al., IROS 2013. LS3, dense stereo depth, visual odometry
- (taken) "Autonomous Door Opening and Plugging In with a Personal Robot", W. Meeussen et al., IROS 2010. PR2, grasping
Instructions for Homeworks
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Schedule
Note: The blue squares in the "#" column below indicate Tuesdays.
| # | Date | Topic | Links/Readings/videos | Assignments/slides |
|---|---|---|---|---|
| 1 | Feb. 11 | Background, introduction to the DARPA Robotics Challenge | slides | |
| 2 | Feb. 13 | NO CLASS UD closed for storm |
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| 3 | Feb. 18 | DRC algorithm components | slides | |
| 4 | Feb. 20
Register/add deadline Feb. 24 |
PCL tutorial | slides | |
| 5 | Feb. 25 | Plane/obstacle/object segmentation (3-D) | HW #1 | |
| 6 | Feb. 27 | HW #1 strategies |
(Clustering example added here) | |
| 7 | Mar. 4 | Clustering, normal estimation | slides
(Normals exampled added here) | |
| 8 | Mar. 6 | Registration, features | PCL registration, features HW #1 due | |
| 9 | Mar. 11 | Object recognition (sample paper) | "Real-Time Human Pose Recognition in Parts from Single Depth Images", J. Shotton et al., CVPR 2011. Recognition, classification, RGB-D | slides |
| 10 | Mar. 13 | More recognition | HW #2 | |
| 11 | Mar. 18 | Mapping (sample paper) | "Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels", N. Fairfield, G. Kantor, and D. Wettergreen, JFR 2007. Occupancy grids, SLAM | slides |
| 12 | Mar. 20 | Localization | ETH localization lectures: 1 2 | |
| 13 | Mar. 25 | Particle filters, localization | Humanoid Robot Localization in Complex Indoor Environments, A. Hornung, K. Wurm, M. Bennewitz, IROS 2010. Monte Carlo localization | Thrun particle filtering slides HW #2 due |
| 14 | Mar. 27 | Mapping | gmapping demos: Pirobot, MIT Darmstadt "Hector" mapping |
Thrun FastSLAM slides (grids from slide 29) Accompanying Stachniss lecture Paper presentation choice due Friday, March 28 |
| Apr. 1 | NO CLASS Spring break |
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| Apr. 3 | NO CLASS Spring break |
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| 15 | Apr. 8 | Finish mapping, DARPA Urban Challenge | Urban Challenge highlights, Stanford clips | Project proposal due Monday, April 7 |
| 16 | Apr. 10 | Student paper presentations; project kick-off | Prasanna Kannappan: "Multi-Sensor Lane Finding in Urban Road Networks", A. Huang et al., RSS 2008 | |
| Apr. 15 | NO CLASS Instructor away |
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| 17 | Apr. 17 | Student paper presentations | Xin Liu: "Biped Navigation in Rough Environments using On-board Sensing", J. Chestnutt et al., IROS 2009
Bo Lu & Xingyu Zhou: "Autonomous Door Opening and Plugging In with a Personal Robot", W. Meeussen et al., IROS 2010 |
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| 18 | Apr. 22 Withdraw deadline |
Student paper presentations | Scott Sorensen: "Robot Vision for Science-Driven Navigation in Challenging Arctic Environments", S. Williams, D. Brooks, and A. Howard. Robot Vision: New Research, T. Matsuda (Ed.), Nova Science, 2009. Philip Saponaro: "Self-supervised Monocular Road Detection in Desert Terrain", H. Dahlkamp, A. Kaehler, D. Stavens, S. Thrun, and G. Bradski, RSS 2006 |
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| 19 | Apr. 24 | Mid-project review; student paper presentation | Abhishek Kolagunda: "Multi-scale Superquadric Fitting for Efficient Shape and Pose Recovery of Unknown Objects", K. Duncan, S. Sarkar, R. Alqasemi, and R. Dubey, ICRA 2013 | |
| 20 | Apr. 29 | Student paper presentations | Guoyu Lu: "Real-Time Navigation in 3D Environments Based on Depth Camera Data", D. Maier, A. Hornung, and M. Bennewitz, Humanoids 2012 Can Chen & Yang Yang: "Collaborative mapping of an earthquake-damaged building via ground and aerial robots", N. Michael et al., JFR 2012 |
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| 21 | May 1 | Motion planning background | slides | |
| 22 | May 6 | Perception for stepping | "Learning Locomotion over Rough Terrain using Terrain Templates", M. Kalakrishnan, J. Buchli, P. Pastor, and S. Schaal, IROS 2009 | |
| 23 | May 8 | Final project review | ||
| 24 | May 13 | "Bonus" material | ||
| 25 | May 15 | Final project presentations | Final project due |
