CMPUT 631 - Robotics: Vision and Autonomous Navigation
Overview
This course is concerned with the subject of autonomous mobile robot navigation. It examines issues related to how a mobile robot incrementally builds a map and localizes itself in that map at the same time, by making use of the information from its sensors. The focus of the course is placed on the use of vision to perform autonomous navigation. The class will consist of both lectures and reading, discussion and implementation of the latest research papers on the subject of visual simultaneous localization and mapping (SLAM) and appearance SLAM.
Objectives
- Introduction to Robotics
- Recursive State Estimation
- Gaussian Filters (EKF) and Non-Parametric Filters (Particle fitler)
- Motion and Sensor Models
- Simultaneous Robot Localization and Mapping (SLAM)
- Visual Features
- Visual SLAM
- Appearance SLAM
Course Work
- Assignments (30%)
- Literature review (15%)
- Course project on appearance SLAM (55%)