Week 1

Jan 21 Lecture Martin Luther King Recess

Jan 23 Lecture 01-01 Introduction to ROS & Reviews Link to Lec 0

Week 2

Jan 28 Lecture 01-02 Coordinate systems, 3D rotation Link to Lec 1

Jan 30 Lecture 01-03 3D rotation, locomotion (Lab 0 due) Link to Lec 2

Week 3

Feb 04 Lecture 01-04 Sensors and sensor calibration, (Text: SNS4.1) Link to Lec 3

Feb 06 Lecture 02-01 Lec: Robot control and wheel odometry (Lab 1 due) Link to Lec 4

Week 4

Feb 11 Lecture 02-02 MiniLec: ROSification. In class lab: /cmd_vel, /odom (Ss0 due) Link to wiki

Feb 13 Lecture 02-03 MiniLec: Range sensing. In class lab: distance sensor with customized message

Week 5

Feb 18 Lecture 02-04 Class Demo, ConclLec: Other sensing methods (5%) Link to Lec 7

Feb 20 Lecture 02-05 State Space Control and Point Tracking , tf remarks(Lab 2 due) Link to Lec 8

Week 6

Feb 25 Lecture 02-06 State Space Control and Point Tracking (cont), In class lab: point tracking

Feb 27 Lecture 03-01 In class lab: point tracking, Mnilec: Camera model kickoff (Ss1 due)

Week 7

Mar 04 Lecture 03-02 Lec: Camera model, Intro to perspective-n-point Link to Lec 11

Mar 06 Lecture 03-03 MiniLec: Camera Calibration. In class lab: Camera calibration (Lab 3 due) Link to wiki Link to launch

Week 8

Mar 11 Lecture 03-04 MiniLec: Perspective-n-point. In class lab: arUco detection

Mar 13 Lecture 04-01 Final competition kickoff and discussion (Ss2 due Mar 15) Link to Lec 14

Week 9

Mar 25 Lecture 05-01 Lec: Search Algorithm, SQ probability road map Link to Lec 15

Mar 27 Lecture 05-02 MiniLec: PRM code base. In class lab: SQ PRM implementation (Lab 4 due) Link to wiki, Link to files

Week 10

Apr 01 Lecture 05-03 MiniLec: map-server In class lab: SQ PRM implementation for ROS

Apr 03 Lecture 05-04 In class lab: SQ PRM implementation for ROS (Ss3 due)

Week 11

Apr 08 Lecture 05-05 In class demo. Concl lecture: A* planner (Lab 5 due Apr 12) Link to Lec19

Apr 10 No Lecture, Instructor travel

Week 12

Apr 15 Lecture 06-01 CV seminar: object recognition Link to Lec20, Link to costmap_eg

Apr 17 Lecture 06-02 Learning seminar: deep learning

Week 13

Apr 22 Lecture 06-03 Mapping seminar: Visual odom, SLAM

Apr 24 Project preparation and scrimmage

Week 14

Apr 29 Final Competition

May 1 Project presentation