EMEN7029-001 Fundamentals of Mobile Robotics

Lecturer: Dr. Hui Kong 

huikong@um.edu.mo

Office hours: 11am – 01pm, Wednesday and Thursday

Office: N21 building, 5011i

Course Syllabus

1. Linear Algebra fundamentals for mobile robotics

2. Probability fundamentals for mobile robotics

3. Brief Intro to Lie Algebra for Robotics

4. Least Squares  and Iterative Reweighted Least Squares

5. Point Cloud Processing: Registration (Iterative Closest Points) and Clustering

6. Occupancy Grid Mapping

7. Recursive Bayesian Filters

8. Kalman Filters, Extended Kalman Filters and Uncented Kalman Filters

9. Pose Graph Optimization with Least Squares

10. What is the Camera? Image Processing fundamentals

11. Camera Calibration 

12. Epipolar Geometry and Homography Estimation for Pose Estimation

13. Visual Keypoints and Descriptors

14. Visual Bag-of-Words Model

15. Stereo Camera Odometry

16. Path Planning Algorithms