Code : 5LIA0 (previously 5HC99) Credits: 5 ECTS Lecturers : Prof. dr. Henk Corporaal, Ir. Mark
Wijtvliet, MSc. Gagandeep Singh, Dr. Roel Jordans, Dr. Dip Goswami,
Dr. Egor Bondarav Tel. : +31-40-247 5195 / 3653 (secr.) 5462 (office) Email: M.Wijtvliet at tue.nl; G.Singh at tue.nl;
R.Jordans at tue.nl; D.Goswami at tue.nl; E.Bondarev at tue.nl;
H.Corporaal at tue.nl Project and lecture location:
FLUX building; Mondays 3,4 and Thursdays 7,8
This course aims at combining and understanding the vision,
(robotic) control and embedded computation areas. For each
discipline the student should become familiar with the main
theories, mathematical formalisms and practical issues.
The course is project driven. Students have to perform advanced lab
assignments, while studying in the mean time the required
theoretical background. This year we will all with the same goal: an
solar driven, autonomously driving car.
A basic material list will be provided, but you can extend it in
several ways.
This will be quite a challenging
course, but the rewards will be high; you will learn a lot.
Only highly motivated
students will be allowed to follow this course.
Topics:
Apart from studying the required material on Vision, Control and
Embedded Procesing Systems, the course will be largely based on
project work. Students will be divided into groups of 3 people
working one one or more lab assignments.
Slides
Slides as far as available will be made available during the course.
All slides have to be studied (mandatory).
Check also our Wiki site for
further material and documentation.
This special issue has several articles on the state-of-the-art
research in the Quadcopter area. Especially study the following:
1. "Multirotor Aerial Vehicles: Modeling, Estimation, and
Control of Quadrotor"
2. "Build Your Own Quadrotor: Open-Source Projects on Unmanned
Aerial Vehicles"
About the SURF algoritm (an scale- and rotation-invariant
algorithm for detecting Robust Features in images):
Herbert Bay, Andreas Ess, Tinne Tuytelaars, Luc Van Gool, "SURF:
Speeded Up Robust Features", Computer Vision and Image
Understanding (CVIU), Vol. 110, No. 3, pp. 346--359, 2008
B.Siciliano and O.Khatib. "Handbook
of
Robotics", Springer, Berlin 2008
An online
copy is available (recommended). Chapter 24 is obligatory
reading.
B. Siciliano, L. Sciavicco, L. Villani and G. Oriolo.
"Robotics, Modelling, Planning and Control", Springer 2009
(recommended). Chapter 10 is
obligatory reading
You may use existing vision toolkits like OpenCV
or ARToolkit. See below.
Learning
OpenCV by Gary Bradski and Adrian Kaehler (O'Reilly 2008)
This is a book about the Computer Vision library, OpenCV. This
library is public available and used everywhere.
ARToolkit
This is a software library for building Augmented Reality (AR)
applications.
The following are links to software for the AR Drone; note we did
not test this fully yet !!
At the end of this course each group has to give a final
presentation and demonstration of its project results.
Guidelines for the presentation will follow.
Projects
Project details will be made available during the course.
Examination
The examination will be oral about the treated course theory, the
lab report(s), and studied articles. You have give a detailed
presentation about your project results, and give a demonstration.
Date: typical end of June, early July.
Grading depends on your report, presentation, quality of the build
vehicle, and your demonstration.
Related material and other links
The Real-time systems course
at
TUDelft using Quadcopters
