Introduction to Vision and Robotics


Course Descriptor
10 Minute Introduction

Course Organisers: 

Bob Fisher Michael Herrmann
Email: rbf@inf.ed.ac.uk Email: mherrman@inf.ed.ac.uk
Office: 1.26 Informatics Forum Office: 1.42 Informatics Forum
Phone: 651 3441 Phone: 651 7177

Lectures:

Lecturer: Bob Fisher & Michael Herrmann
Lecture times: Tuesdays and Fridays 9:00am in David Hume Tower Faculty Room North.
Lecture topics and handouts.

Here are audio and videos of lectures captured in 2007/8 and 2008/9. Because of equipment technical problems, we are not always able to capture all lectures, so lectures from previous years might help.

Prof. Fisher's lectures will use the wireless clicker interactive feedback system. Collect your handset from the IS helpdesk in the Main Library..

Tutorial/Practicals:

Demonstrators: Ioannis Havoutis - I.Havoutis@sms.ed.ac.uk and Lily Xiang Li - X.Li-29@sms.ed.ac.uk
Times: From week 2, Tuesday/Friday 11:10, 12;10, IPAB Robot teaching lab, AT 3.01.
Practical notes:
Week 2 - Matlab, webot, khepera introduction
Week 3 - More matlab, webot, khepera skills
Week 4 - Image processing skills
Week 5 - Visual classification skills

Assessment:

Coursework (25%)
There will be two equally weighted pieces of assessed coursework:

  1. A written report on Autonomous Navigation. Details available here. Due 9 am Tuesday Nov 3 by electronic submission. A demonstration of your program will occur at the Robotics Lab from 11:10 am of that day. Further information:
    • Description
    • No camera is used in this practical. Control programs can be written in MatLab or C.
    • sample files:
      • world file with a typical world layout and a khepera (this world is not working with MatLab, but is meant to give an impression of the (maximal) complexity of the environment)
      • world file with blocks than can be moved by a Khepera. One of the blocks has a barcode at one of its sides. It is readable by IR sensors. Click on the blocks to see the stripes. The stripes are actually holes in the "physical" block but do not appear in the visual image of the block.
      • simplified formulas for odometry
  2. A written report and a demonstration of a visually guided robot servoing process in the webot and khepera worlds. Details available here. Due 10 am Monday Nov 30 by electronic submission. A demonstration of your program will occur in the afternoon of Monday November 30. To do this practical, you will need the following files: The wbt files are the two worlds you need for the second practical plus the floor images. The world files and images should go into the local_webots/worlds directory as usual. See the practical instructions for the WEBOT_software_2010.tar.gz file.
The practicals are done in groups of two. A single, joint, report is to be submitted by one student. All practicals are covered by the school policy on plagiarism and students are advised to be fully aware of this when submitting practical work.

Exam (75%)
Here is a sample paper with sample answers
The lecture and practical contents define the examinable material.

Reading list:

See individual lecture handouts for further reference material.

Resources

Communications:

This page is maintained by the course lecturer, Bob Fisher, rbf@inf.ed.ac.uk, room IF 1.26, ext 513441.


Home : Teaching : Courses 

Informatics Forum, 10 Crichton Street, Edinburgh, EH8 9AB, Scotland, UK
Tel: +44 131 651 5661, Fax: +44 131 651 1426, E-mail: school-office@inf.ed.ac.uk
Please contact our webadmin with any comments or corrections.
Unless explicitly stated otherwise, all material is copyright © The University of Edinburgh