Robotics: Perception
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assignment Level : Intermediate
chat_bubble_outline Language : English
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Key Information

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verified_user Fee-based Certificate
timer 12 hours in total

About the content

How can robots perceive the world and their own movements so that they accomplish navigation and manipulation tasks? In this module, we will study how images and videos acquired by cameras mounted on robots are transformed into representations like features and optical flow. Such 2D representations allow us then to extract 3D information about where the camera is and in which direction the robot moves. You will come to understand how grasping objects is facilitated by the computation of 3D posing of objects and navigation can be accomplished by visual odometry and landmark-based localization.

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Syllabus

  • Week 1 - Geometry of Image Formation
    Welcome to Robotics: Perception! We will begin this course with a tutorial on the standard camera models used in computer vision. These models allow us to understand, in a geometric fashion, how light from a scene enters a camera and projects onto a 2D image. ...
  • Week 2 - Projective Transformations
    Now that we have a good camera model, we will explore the geometry of perspective projections in depth. We will find that this projection is the cause of the main challenge in perception, as we lose a dimension that we can no longer directly observe. In this ...
  • Week 3 - Pose Estimation
    In this module we will be learning about feature extraction and pose estimation from two images. We will learn how to find the most salient parts of an image and track them across multiple frames (i.e. in a video sequence). We will then learn how to use featur...
  • Week 4 - Multi-View Geometry
    Now we will use what we learned from two view geometry and extend it to sequences of images, such as a video. We will explain the fundamental geometric constraints between point features in images, the Epipolar constraint, and learn how to use it to extract th...
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Instructors

Kostas Daniilidis
Professor of Computer and Information Science
School of Engineering and Applied Science

Jianbo Shi
Professor of Computer and Information Science
School of Engineering and Applied Science

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Content Designer

University of Pennsylvania
The University of Pennsylvania (commonly referred to as Penn) is a private university, located in Philadelphia, Pennsylvania, United States. A member of the Ivy League, Penn is the fourth-oldest institution of higher education in the United States, and considers itself to be the first university in the United States with both undergraduate and graduate studies.
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Platform

Coursera

Coursera is a digital company offering massive open online course founded by computer teachers Andrew Ng and Daphne Koller Stanford University, located in Mountain View, California. 

Coursera works with top universities and organizations to make some of their courses available online, and offers courses in many subjects, including: physics, engineering, humanities, medicine, biology, social sciences, mathematics, business, computer science, digital marketing, data science, and other subjects.

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3.8 /5 Average
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Best Review

Course is nicely organized and helps even a novice without much in depth knowledge of image processing to understand the concepts

Anonymous
Published on February 24, 2018
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February 24, 2018
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Course is nicely organized and helps even a novice without much in depth knowledge of image processing to understand the concepts

February 20, 2018
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It was really an interesting course and is recommended for those interested in Vision-based applications for their robots, especially dealing with motion estimation, visual odometry, visual SLAM, image matching using local point features (SIFT) etc. The course did help a lot in brushing up some concepts from undergrad and using them to create some amazing codes through assignments. There are few things that can be improved, for example, some of the videos in the course lack proper explanation and it took a while to understand. Some of the quizzes comprise questions to which answers cannot be derived using the course content (AFAIU). The inverse depth parameterization-based direct pose estimation is not covered (e.g. as in LSD-SLAM).

February 13, 2018
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This course is a tough one, the assignments are challenging. One problem with teh course is the use of english subtitles, there some errors on mathematical terms that makes more difficult to understand what is being explained (and sometimes the teachers' english is not very clear).

January 6, 2018
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Extremely fast-paced course that gives a great overview of Perception but leaves a lot of things unexplained or without proofs.

December 19, 2017
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Great Deal of Math.Prof. Shi's lectures on math guides me through this course. Whenever he shows up in the video, I know he will give me almost everything I need to solve the problems.Really Intensive and rewarding.The programming assignment is not that difficult if we have understood the meaning of the equations on the slide.But the math is not easy. Though Prof. Shi has been giving the lectures in a rather reasonable pace, I still have to pause the videos for quite a long time to follow him on math. I WILL NEVER FORGET SVD AFTER THIS COURSE. AMAZING!Hope Coursera can offer more intensive courses like this. Really like courses going in the order of advanced math - algorithm - practice.