CS7380 F10: Schedule

week of 9/13: projective and interactive geometry

Topic summary on the course homepage.

week of 9/20: 3D rotation and spatial pose

Topic summary on the course homepage.

week of 9/27: kinematics

Topic summary on the course homepage.

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.

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.

week of 10/18: visual feature detection and tracking

Topic summary on the course homepage.

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.

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.

week of 11/8: collision detection

Topic summary on the course homepage.

week of 11/15: detecting surface patches

Topic summary on course homepage.

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

Topic summary on the course homepage.

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

Topic summary on course homepage.

week of 12/6: term project presentations