Advanced Techniques for Mobile Robotic

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本课程为研究导向型，旨在介绍科学工作及论文写作等技能。除了传统授课外，学生还需完成项目并实施自己的创意。课程内容包括机器人软件架构、ROS、最小二乘法等。

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Advanced Techniques for Mobile Robotics (Robotics 2) - WS 2011/12

This course will be a research oriented course that provides an introduction into scientific work, writing papers, etc. Besides classical lectures, students will be required to carry out projects and to implement own ideas.

General Information:

Lecturers: Prof. Dr. Wolfram Burgard, PD Dr. Cyrill Stachniss, Jun-Prof. Dr. Kai Arras, Jun-Prof. Dr. Maren Bennewitz
Tutor: Dipl. Phys. Jonas Rist
Lectures/Exercises: Monday 10-12 (Room SR 01-018, Building 101) and Wednesday 14-16 (Room SR 00-034, Building 51)
Language: English

Slides:

Introduction
A Compact Course on Linear Algebra
Gnuplot Tutorial and Gnuplot Examples
Octave Tutorial
Robot Software Architectures
ROS
Least Squares (blackboard material)
Odometry Calibration by Least Squares (for the exercise on 14.11.2011)
Camera Calibration
Graph-based SLAM with Least Squares (blackboard material, Least-Squares SLAM Tutorial)
Graph-Based SLAM with Landmarks
Simultaneous Calibration, Localization, and Mapping (blackboard material)
TORO - SLAM with Gradient Descent (blackboard material; TORO journal paper, Covariance estimation paper)
SLAM Frontends
Gaussian Processes in Robotics (Book: Gaussian Processes in ML)
Clustering (updated 20.12.2011)
GMMs
BoW and Appearance-based Mapping (updated 20.12.2011, video, FAB-MAP Papers: IJRR 2008, IJRR 2010)
3D Object Recognition
Classification with AdaBoost
Target Tracking
Data Association
Location-based Activity Recognition (related publications and animations can be found at the webpage of D. Fox)
POMDPs
Statistical Testing
How to Write a Paper

Schedule/Recordings:

2011-10-24: Intro, Linear Algebra, Gnuplot (Cyrill Stachniss; no recordings)
2011-10-26: Octave Tutorial (Kai Arras; no recordings)
2011-10-31: Exercise (Jonas Rist)
2011-11-02: Robot Software Architectures (Cyrill Stachniss; MP4 video, 95min, 152MB)
2011-11-07: ROS (Felix Endres, Juergen Hess; MP4 video, 88min, 134MB)
2011-11-09: Least Squares (Cyrill Stachniss; MP4 video, 60min, 571MB); Lecture without blackboard derivations (Cyrill Stachniss; MP4 video, 40min, 55MB)
2011-11-09: Camera Calibration (Cyrill Stachniss; MP4 video, 45min, 65MB)
2011-11-14: Exercise (Jonas Rist)
2011-11-16: Graph-based SLAM with Least Squares (Cyrill Stachniss; ONLY PARTIAL RECORDINGS; MP4 video, 34min, 50MB)
2011-11-21: Graph-Based SLAM with Landmarks (Cyrill Stachniss; MP4 video, 62min, 96MB)
2011-11-21: Simultaneous Calibration, Localization, and Mapping (Cyrill Stachniss; no recordings)
2011-11-23: TORO - SLAM with Gradient Descent (Cyrill Stachniss; MP4 video, 88min, 136MB)
2011-11-28: SLAM Front-Ends Part 1 (Cyrill Stachniss; MP4 video, 57min, 172MB)
2011-11-28: SLAM Front-Ends Part 2 (Cyrill Stachniss; no recordings, 35min)
2011-11-30: Gaussian Processes in Robotics (Cyrill Stachniss; MP4 video, 93min, 150MB)
2011-12-05: Project work (Cyrill Stachniss; no recordings)
2011-12-07: Project work (Cyrill Stachniss; no recordings)
2011-12-12: Clustering (Maren Bennewitz, MP4 video, 73min, 136MB)
2011-12-14: GMMs, Bag of Words, Appearance-based Mapping part 1 (Maren Bennewitz, MP4 video, 41min, 63MB)
2011-12-14: GMMs, Bag of Words, Appearance-based Mapping part 2 (Maren Bennewitz, MP4 video, 21min, 34MB)
2011-12-19: Exercise (Jonas Rist)
2011-12-21: 3D Object Recognition (Wolfram Burgard)
2012-01-09: Exercise (Kai Arras): People Detection and Tracking Project
2012-01-11: Classification with AdaBoost (Kai Arras, no recordings)
2012-01-16: Exercise (Kai Arras): People Detection and Tracking Project (cont.)
2012-01-18: Target Tracking (Kai Arras, no recordings)
2012-01-23: Exercise (Kai Arras): People Detection and Tracking Project (cont.)
2012-01-25: Data Association (Kai Arras)
2012-01-30: Exercise (Jonas Rist): People Detection and Tracking Project (cont.)
2012-02-01: Activity Recognition part 1 (Maren Bennewitz, MP4 video, 44 Min, 79 MB)
2012-02-01: Activity Recognition part 2 (Maren Bennewitz, MP4 video, 18 Min, 27 MB)
2012-02-06: Exercise (Jonas Rist)
2012-02-08: POMDPs (Wolfram Burgard)
2012-02-13: Statistical Testing (Cyrill Stachniss)
2012-02-15: How to Write a Paper (Cyrill Stachniss)