30h Th, 4h Pr, 80h Proj.
Number of credits
Language(s) of instruction
Organisation and examination
Teaching in the second semester
Units courses prerequisite and corequisite
Prerequisite or corequisite units are presented within each program
Learning unit contents
1: Basics: SE(3) geometry, sensors, actuators, controllers, kinematics. 2: Mobile robots: Locomotion, localization, navigation, SLAM. 3: Arms and grippers: Reaching, grasping, grasp learning. 4: Computer Vision: Feature extraction (Edge, Harris), Fitting (Ransac, Hough), Tracking (Kalman, Nonparametric), Object recognition (PCA, probabilistic model). See http://renaud-detry.net/teaching/info0948/
Learning outcomes of the learning unit
At the end of the course, students will be able to:
- Extract information from video streams (identity/position of objects/persons, body pose, 3D structure).
- Plan actions from sensory data (navigation, grasping, via optimization, learning or control).
- Translate these actions into a sequence of motor commands that can be executed on the robot.
Prerequisite knowledge and skills
- Programming skills
- Basic math
- Elements of probabilities and statistics
Planned learning activities and teaching methods
- Oral Courses
- Group project
Mode of delivery (face-to-face ; distance-learning)
Recommended or required readings
The course is largely based on the book Robotics, Vision and Control: Fundamental Algorithms in MATLAB, written by Peter Corke, published by Springer in 2011. See the course page for download and purchase information.
Assessment methods and criteria
Group project (evaluating the assimilation of practical notions).
Course webpage: http://renaud-detry.net/teaching/info0948/
Renaud Detry: http://renaud-detry.net