Teaching

Vision Aided Navigation (086761): Fall 2018

The course focuses on fundamental topics in vision aided navigation (VAN) and simultaneous localization and mapping (SLAM), which are essential for autonomous operation in unknown, uncertain or dynamically changing environments.

Topics to be covered include: Bayesian inference, state of the art SLAM and VAN approaches, and bundle adjustment. Depending on progress, some of the following advanced topics will be also briefly covered: multi-robot cooperative localization and mapping, active SLAM and belief space planning, intro/overview of recent deep learning approaches.

We encourage student participation from multiple faculties/departments at the Technion.

  • Course syllabus and information sheet can be found here.
  • The course is managed via Piazza.
    Important – Sign up to the course here. Let me know (by email) if you do not have a Technion email.

When: Sundays, 13:30-16:30
Where: Lady Davis 283

Course tentative schedule (will probably change during the semester):

Lecture week Topic
1 Introduction, 3D rigid transformations, 6 DOF Poses
2 Probability basics, Bayesian inference, Extended Kalman filter
3 Projective camera geometry, Feature detection and matching
4 Structure from Motion I, Multiple view geometry, Bundle adjustment
5 SLAM and VAN
6 Graphical Models, iSAM
7 iSAM, visual-inertial SLAM
8 Active SLAM, Belief space planning
9 Midterm exam
10 Cooperative navigation and SLAM I
11 Cooperative navigation and SLAM II
12 Project presentations
13 Project presentations