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Announcements
- 13 Mar 06: Ball tracking exercise is posted here.
- 03 Mar 06: Camera calibration exercise is posted here.
- 27 Feb 06: The fourth lab exercise is posted here.
- 23 Jan 06: The second lab assignment is posted here.
- 20 Jan 06: The first lab assignment is posted here.
- 17 Jan 06: First day of classes. Welcome!
Course Description
This course is inspired by the 4-legged league International Robocup Competition, where teams of Sony Aibo robots are programmed with autonomous behaviors and play competitive soccer (aka football). In this course, we will use the Aibo platform and the Robocup competition as a medium for inderstanding and applying relevant algorithms from mobile robotics and computer vision. The end goal of the course is for the students to develop sufficient behaviors within the Tekkotsu framework to enable the Aibos to play soccer.
Topics that will be covered during this course will include (among others):
- Motion Planning
- Computer Vision
- Sensor Fusion
- AI
Prerequisites
- Math 23 Analytic Geometry and Calculus
III or equivalent
- Math 205 Linear Methods or equivalent
or equivalent
- CSE 109 Systems Programming or
equivalent programming experience in C/C++
Instructor
John Spletzer
Office Hours: TR 6:00-7:00PM and by
appointment
Lectures: T 1:10-2:25PM, MG475
Laboratory Sessions: MF 12:00-2:00PM, PL450
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Course Materials
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We will rely primarily on the class lecture notes, augmented by the
following
online materials. There is no required text for this
course.
- The official Robocup site can be found here.
- Our interest is in the 4-Legged League competition.
- The league rulebook can be found here.
- All code will be implemented in the Tekkotsu framework developed by CMU. The beginner's tutorial is required reading.
- This Open-R SDK for the Aibos is provided by Sony.
- Since the lab computers are primarily Windows boxes, we will be relying upon the Cygwin emulator in this course.
- The Aibo's vision module is based upon the CMVision software described in the paper by James Bruce et al.
- Here is a graph
theory primer from the
- A. Kelly, Introduction to Mobile Robots Course Notes, Field Robotics Center, Carnegie Mellon University, 2000, with a particular emphasis on "Position Estimation 2" and "Uncertainty 1-3"
- We will be using the CalTech camera calibration toolbox for Matlab.
Grading
Stundent grading will be based entirely on the laboratory
assignments provided each week. There will be no additional homework or
examinations.
University Policy on Disabilities: If you have a
disability for which
you are or may be requesting accommodations, please contact your
professor and
the Office of Academic Services, Room 212,
Tentative Schedule .
|
DATE |
TOPICS |
NOTES |
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17 Jan 06 |
Intro, CMVision & Color Segmentation |
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24 Jan 06 |
Intro to the Tekkotsu Framework |
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| 31 Jan 06 | Coordinate Transformations & Forward Kinematics | Lecture 3 |
| 07 Feb 06 | CMU Team Report Review | Lecture 4 |
| 20 Feb 06 | Edge-base Feature Extraction | Lab Exercise 4 |
| 27 Feb 06 | Camera Calibration | Lecture 5 Lab Exercise 5 |
| 13 Mar 06 | Ball Tracking | Lab Exercise 6 |
| 20 Mar 06 | Vision Pipeline Lecture | Lecture 6 |