Advanced Techniques for Mobile Robotic

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StartseiteSchnellzugriffAktuellesForschungPRojekteLehreWS 2016/17Systeme I: BetriebssystemeRobot MappingSeminar: Robot NavigationSystem Design ProjektDeep Learning CourseSS 2016Einführung in die InformatikFolienübungenAufzeichnungenLiteratur und SoftwareIntroduction to Mobile RoboticsGrundlagen der Künstlichen IntelligenzFolienübungenWS 2015/16Systeme I: BetriebssystemeRobot MappingProseminar: Robot NavigationHauptseminar: Robot NavigationSystem Design ProjektSS 2015Einführung in die InformatikFolienübungenAufzeichnungenLiteratur und SoftwareIntroduction to Mobile RoboticsGrundlagen der Künstlichen IntelligenzFolienübungenTheoretical Computer Science (Bridging Course)(Tutorial)Robotik Praktikum (Parking space detection)Doing by Thinking - Introduction to the Functional Decoding of Brain SignalsDoing by Thinking - Invasive and Non-Invasive Methods to Decode Brain Signals in RealtimeWS 2014/15Robot MappingTheoretical Computer Science (Bridging Course)System Design ProjektRobot PerceptionRobot LearningProseminar: Robot NavigationHauptseminar: Robot NavigationSS 2014Grundlagen der KIIntroduction to Mobile RoboticsDoing by Thinking - Introduction to the Functional Decoding of Brain SignalsDoing by Thinking - Invasive and Non-Invasive Methods to Decode Brain Signals in RealtimeWS 2013/14Robot MappingSystem Design ProjektSS 2013Einführung in die InformatikFolienübungenAufzeichnungenLiteratur und SoftwareIntroduction to Mobile RoboticsGrundlagen der KISeminar Humanoid RobotsWS 2012/13Einführung in die InformatikFolienübungenAufzeichnungenLiteratur und SoftwareRobot MappingRobotik Praktikum ARobotik Praktikum BSystem Design ProjektSeminar Robot NavigationSeminar Robot PerceptionSS 2012Einführung in die InformatikFolienübungenAufzeichnungenLiteratur und SoftwareGrundlagen der KIFolien und AufzeichnungenübungenIntroduction to Mobile RoboticsIntroduction to Arm-Type RobotsSeminar Humanoid RobotsWS 2011/12Informatik 1FolienübungenAufzeichnungenLiteratur und SoftwareRobotics 2Seminar Robot NavigationSS 2011?ltere SemesterMitarbeiterPublikationenKontaktAktuellesForschungProjekteLehreWS 2016/17SS 2016WS 2015/16SS 2015WS 2014/15SS 2014WS 2013/14SS 2013WS 2012/13SS 2012WS 2011/12Informatik 1Robotics 2Seminar Robot NavigationSS 2011?ltere SemesterMitarbeiterPublikationenKontakt

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Autonome Intelligente SystemeAlbert-Ludwigs-Universit?t FreiburgSie sind hier: Startseite ? Lehre ? WS 2011/12 ? Robotics 2

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Advanced Techniques for Mobile Robotics (Robotics 2) - WS 2011/12

This course will be a research oriented course that provides an introduction into scientific work, writing papers, etc. Besides classical lectures, students will be required to carry out projects and to implement own ideas.

General Information:

Lecturers: Prof. Dr. Wolfram Burgard, PD Dr. Cyrill Stachniss, Jun-Prof. Dr. Kai Arras, Jun-Prof. Dr. Maren BennewitzTutor: Dipl. Phys. Jonas RistLectures/Exercises: Monday 10-12 (Room SR 01-018, Building 101) and Wednesday 14-16 (Room SR 00-034, Building 51)Language: English

Slides:

IntroductionA Compact Course on Linear AlgebraGnuplot Tutorial and Gnuplot ExamplesOctave TutorialRobot Software ArchitecturesROSLeast Squares (blackboard material)Odometry Calibration by Least Squares (for the exercise on 14.11.2011)Camera CalibrationGraph-based SLAM with Least Squares (blackboard material, Least-Squares SLAM Tutorial)Graph-Based SLAM with LandmarksSimultaneous Calibration, Localization, and Mapping (blackboard material)TORO - SLAM with Gradient Descent (blackboard material; TORO journal paper, Covariance estimation paper)SLAM FrontendsGaussian Processes in Robotics (Book: Gaussian Processes in ML)Clustering (updated 20.12.2011)GMMsBoW and Appearance-based Mapping (updated 20.12.2011, video, FAB-MAP Papers: IJRR 2008, IJRR 2010)3D Object RecognitionClassification with AdaBoostTarget TrackingData AssociationLocation-based Activity Recognition (related publications and animations can be found at the webpage of D. Fox)POMDPsStatistical TestingHow to Write a Paper

Schedule/Recordings:

2011-10-24: Intro, Linear Algebra, Gnuplot (Cyrill Stachniss; no recordings)2011-10-26: Octave Tutorial (Kai Arras; no recordings)2011-10-31: Exercise (Jonas Rist)2011-11-02: Robot Software Architectures (Cyrill Stachniss; MP4 video, 95min, 152MB)2011-11-07: ROS (Felix Endres, Juergen Hess; MP4 video, 88min, 134MB)2011-11-09: Least Squares (Cyrill Stachniss; MP4 video, 60min, 571MB); Lecture without blackboard derivations (Cyrill Stachniss; MP4 video, 40min, 55MB)2011-11-09: Camera Calibration (Cyrill Stachniss; MP4 video, 45min, 65MB)2011-11-14: Exercise (Jonas Rist)2011-11-16: Graph-based SLAM with Least Squares (Cyrill Stachniss; ONLY PARTIAL RECORDINGS; MP4 video, 34min, 50MB)2011-11-21: Graph-Based SLAM with Landmarks (Cyrill Stachniss; MP4 video, 62min, 96MB)2011-11-21: Simultaneous Calibration, Localization, and Mapping (Cyrill Stachniss; no recordings)2011-11-23: TORO - SLAM with Gradient Descent (Cyrill Stachniss; MP4 video, 88min, 136MB)2011-11-28: SLAM Front-Ends Part 1 (Cyrill Stachniss; MP4 video, 57min, 172MB)2011-11-28: SLAM Front-Ends Part 2 (Cyrill Stachniss; no recordings, 35min)2011-11-30: Gaussian Processes in Robotics (Cyrill Stachniss; MP4 video, 93min, 150MB)2011-12-05: Project work (Cyrill Stachniss; no recordings)2011-12-07: Project work (Cyrill Stachniss; no recordings)2011-12-12: Clustering (Maren Bennewitz, MP4 video, 73min, 136MB)2011-12-14: GMMs, Bag of Words, Appearance-based Mapping part 1 (Maren Bennewitz, MP4 video, 41min, 63MB)2011-12-14: GMMs, Bag of Words, Appearance-based Mapping part 2 (Maren Bennewitz, MP4 video, 21min, 34MB)2011-12-19: Exercise (Jonas Rist)2011-12-21: 3D Object Recognition (Wolfram Burgard)2012-01-09: Exercise (Kai Arras): People Detection and Tracking Project2012-01-11: Classification with AdaBoost (Kai Arras, no recordings)2012-01-16: Exercise (Kai Arras): People Detection and Tracking Project (cont.)2012-01-18: Target Tracking (Kai Arras, no recordings)2012-01-23: Exercise (Kai Arras): People Detection and Tracking Project (cont.)2012-01-25: Data Association (Kai Arras)2012-01-30: Exercise (Jonas Rist): People Detection and Tracking Project (cont.)2012-02-01: Activity Recognition part 1 (Maren Bennewitz, MP4 video, 44 Min, 79 MB)2012-02-01: Activity Recognition part 2 (Maren Bennewitz, MP4 video, 18 Min, 27 MB)2012-02-06: Exercise (Jonas Rist)2012-02-08: POMDPs (Wolfram Burgard)2012-02-13: Statistical Testing (Cyrill Stachniss)2012-02-15: How to Write a Paper (Cyrill Stachniss)

Exercises/Projects:

Exercise: Octave Introduction (PDF, solution)Project: Least Squares SLAM (PDF, archive with code and datsets)Project: Bag of Words (PDF, archive with BoW project files, solution)Project: People Detection and Tracking (PDF, archive with code and datasets, solution (updated!))Project: Activity Recognition (PDF, archive with code and datasets , solution)