Autonomous Mobile Robots - Spring 2015

Main content

  • This course is jointly taught by Roland Siegwart, Marco Hutter, Mike Bosse, Martin Rufli and Davide Scaramuzza.
  • It is given as an MOOC (Massive Open Online Course) under edx.
  • Please register in edx to get access to the video segment and course material.
  • Lecture: Weekly on Monday 14.15 - 16.00, HG E 1.2
  • Exercises: Approximately every second week, Tuesday 10.15 - 12.00, HG G1
  • You can download a pdf version of the course schedule here (PDF, 49 KB).
week Date of Lecture at ETH Week title Lecture segment names Add-on slides  Lecturer
1 16.02.2015
Intro and Review
Introduction and Lecture Overview (PDF, 13.3 MB)
Introduction and Lecture Overview (PDF, 2.8 MB) R. Siegwart
2
23.02.2015
Legs and Kinematics
Legged Robotics  Basics of Rigid Body Kinematics Introduction Example Application of Rigid Body Kinematics Application Example (PDF, 3.4 MB)
Locomotion and Kinematics I (Legged) (PDF, 3.8 MB)
M. Hutter 
Ex1 24.02.2015
Introduction to V-Rep simulator
M. Freese, U. Schwesinger

02.03.2015
Wheeled Locomotion
Introduction to Wheeled Locomotion Differential Kinematics Wheeled Kinematics Worked Exercise (PDF, 836 KB)
Locomotion and Kinematics II (Wheeled) (PDF, 568 KB)
R. Siegwart
4
9.03.2015
Perception I (to 4.3)
Sensors Introduction to Computer Vision (PDF, 3.9 MB)
Perception I - Sensors (PDF, 3.8 MB)
D. Scaramuzza
Ex2
10.03.2015
Kinematics & control of a diff drive vehicle
P. Gohl, A. Vempati
5
16.03.2015
Perception II (to 4.4)
Camera image formation Omnidirectional projection Stereo vision Worked example: Structure from motion (PDF, 3.7 MB)
Perception II - Pin-hole and Stereo Vision (PDF, 11.8 MB)
M. Bosse
6
23.03.2015
Perception III: Image Saliency (to 4.5)
Correlation and Convolution Edges and Points Worked Example on Image Filtering (PDF, 5.2 MB)
Perception III - Filtering and feature extraction (PDF, 5.5 MB) D. Scaramuzza
7
30.03.2015
Perception IV: Place Recognition & Line
Place Recognition Error Propagation Line Extraction (PDF, 3.5 MB)
Perception IV - Place Recognition - Line Extraction (PDF, 3.5 MB) D. Scaramuzza
Ex3
31.03.2015
Line extraction
J. Rehder, T. Hinzmann
 8  Week off
 9 13.04.2015 Quiz 1

R. Dube, D. Bellicoso, M. Dymczyk
10
20.04.2015
Localization I (to 5.2)
Introduction to Map-Based Localization Refresher on Probability Theory (PDF, 1.6 MB)
M. Bosse
11
27.04.2015
Localization II
The Markov Approach The Kalman Filter Approach (PDF, 1.5 MB)
Localization II (PDF, 827 KB)
R. Siegwart
Ex4
28.04.2015
Line-based Extended Kalman Filter
J. Rehder, T. Hinzmann
12 04.05.2015
SLAM
The SLAM problem Monocular SLAM and beyond Worked Example on SLAM (PDF, 16.7 MB)
SLAM (PDF, 16.7 MB)
R. Siegwart
Ex5
05.05.2015
EKF SLAM
S. Omari, T. Schneider
13
11.05.2015
Planning I (to 6.2)
Introduction to Optimization Techniques Collision Avoidance Potential Field Methods Worked Example on Harmonic Potential Fields (PDF, 1.7 MB)
Motion Planning I (PDF, 1.5 MB)
M. Rufli
14
18.05.2015
Planning II (to 6.3)
Graph Search I
Graph Search II
Worked Example on A*
Motion Planning II (PDF, 605 KB)
M. Rufli
Ex6
19.05.2015
Dijkstra's alg. and the dynamic window
P. Krüsi, M. Pfeiffer
15
25.05.2015
Summary
Summary (PDF, 2.1 MB)
Summary (PDF, 3.8 MB)
R. Siegwart
15 25.05.2015  Quiz 2
 R. Dube, D. Bellicoso, M. Dymczyk

Exam Questions:

The exam questions can be downloaded from here: [Exam Questions (PDF, 92 KB)]
The examiners will select one question from each column (three questions total). They serve as a basis for the oral examination.

 
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Fri Jun 23 21:57:02 CEST 2017
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