CP260-2025: Robotic Perception

Syllabus

• Inertial Odometry

  • IMU Model and Orientation Estimation

• Tracking & Mapping

  • EKF, UKF, Factor Graphs, Marginalization, Variable Elimination, Non-Linear Least Square

  • Generative Models

  • Occupancy Grid

• Lidar Odometry

  •  Scan Matching, Occupancy Grids, Likelihood maps, point-to-point, point-to-plane, KD trees, Iterative Closest Point, Ground Plane Removal

•  Deep Neural Networks Fundamentals

  • Feedforward Networks, Fully connected Networks, Multi-Layer Perceptron, Convolutional Neural Network, Stochastic Gradient Descent, Regularization, Maxpooling, Backpropagation, Skip Connections

• 3D Point Cloud Processing 

  • Object Pose Estimation, Object Segmentation, RANSAC, Hough Transforms, Point Pair Features, Normals and Curvature, Deep Learning Methods, GPU Acceleration, Handling Occlusions, Gumbel-Softmax, Pose Symmetries, Mean-Shift clustering

• Computer Vision Fundamentals

  • Pin-Hole Camera Model and Projections, Homography, PnP, Object Detection, Classification, Tracking, Stereo Processing, Optical flow, Features - Classical and Machine Learning, 

• Vision based Odometry  & SLAM

  • VIO, Bundle adjustment, Visual SLAM

• 3D Representations

  • Radiance Fields, Gaussian Splatting

References

• Texts

  • Factor Graphs, F. Daellert

  • Deep Learning, Goodfellow et. al.

  • Multi-View Geometry in Computer Vision, Hartley & Zisserman

  • Probabilistic Robotics, Thrun et. al.

  • Micro Lie Theory for State Estimation in Robotics, Sola et. .al.

• Papers

  • An Introduction to Inertial Navigation, Oliver Woodman, Univ, of Cambridge, Tech Report, 2007

  • navlie: A python package for state estimation on Lie Groups, Cossette et.al, 2023

  • A review of point cloud registration in robotics, Pomerleau et. al,, Foundation and Trends in Robotics 2015

  • PointNet: Deep Learning on Point Sets..., Qi et. al., 2017

  • PointNet++: Deep hierarchical Feature Learning ..., Qi. et. al., 2018

  • Lidar Sensor Functionality and Variants, Weber et. al., SICK white paper 2018-07

  • Time of Flight System Design, Sullivan et. al, Analog Devices Application Note, 2021

  • ModelNet-O: A large scale synthetic dataset for occlusion-aware point cloud classification, Fang et. al, 2024

  • A survey on learning based robotic grasping, Kleeberger et. al, Robotics in Manufacturing, 2020

  • PPR-Net: Point-wise Pose Regression ..., Dong et. al., 2019

  • Defining Pose, ... , Bregier et. al, International Journal of Computer Vision 2018

  • Mean Shift: A robust approach towards feature space analysis, Comaniciu et. al, IEEE PAMI 2002

  • PPR-Net++: Accurate 6-D Pose Estimation..., Zeng et. al,, IEEE TASE 2022