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課程名稱 |
機器人視覺
Robot Vision |
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開課學期 |
112-2 |
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授課對象 |
工學院 機械工程學研究所 |
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授課教師 |
黃漢邦 |
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課號 |
ME5043 |
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課程識別碼 |
522 U6180 |
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班次 |
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學分 |
3.0 |
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全/半年 |
半年 |
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必/選修 |
選修 |
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上課時間 |
星期一2,3,4(9:10~12:10) |
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上課地點 |
工綜215 |
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備註 |
與林峻永合授
總人數上限：40人 |
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課程簡介影片 |
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核心能力關聯 |
核心能力與課程規劃關聯圖 |
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課程大綱
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課程概述 |
This class is designed for graduate or junior/senior engineering students. Students will learn image processing, model-based vision, camera model, calibration, pose estimation, stereo vision, and neural network (and AI) for robot vision. |
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課程目標 |
Design of algorithms for robotic vision systems for automation, manufacturing, and service industries, image processing, optics, illumination, and feature representation. |
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課程要求 |
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預期每週課後學習時數 |
Three hours |
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Office Hours |
每週五 14:00~15:00
每週四 14:00~15:00
每週三 14:00~15:00
每週二 14:00~15:00
每週一 14:00~15:00 備註： 周一、週二: 黃漢邦老師， 周四、周五: 趙鈺麟助教
周四、周五: 林峻永老師， 周一、周三: 吳易秦助教， |
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指定閱讀 |
R. C. Gonzalez and R. E. Woods, Digital Image Processing, Prentice Hall, 4th Edition, 2018. |
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參考書目 |
1. R. Gonzalez, R. Woods, and S. Eddins, Digital Image Processing using Matlab, 2nd ed., Prentice Hall, 2009.
2. D. H. Ballard and C. M. Brown, Computer Vision, Prentice Hall. 1982.
3. B. K. P. Horn, Robot Vision, MIT Press. 1986.
4. N. Zuech, Applying Machine Vision, Wiley Interscience. 1988.
5. R. M. Haralick and L. G. Shapiro, Computer and Robot Vision, V1 & 2, Addison Wesley. 1992.
6. F. van der Heijden, Image Based Measurement Systems, John Wiley and Sons, 1995.
7. E. R. Davies, Computer and Machine Vision: Theory, Algorithm, & Practicalities, 4th ed., Acad. Press, 2012.
8. Linda G. Shapiro and George C. Stockman, Machine Vision, Prentice Hall, 2001.
9. D. A. Forsyth, and J. Ponce, Computer Vision: A Modern Approach, Prentice Hall. 2nd ed., 2011.
10. R. Szeliski, Computer Vision: Algorithms and Applications, Springer-Verlag, London, 2011. |
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評量方式
(僅供參考) |
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No. |
項目 |
百分比 |
說明 |
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1. |
1st Exam |
25% |
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2. |
2nd Exam |
25% |
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3. |
Homework |
25% |
Four homeworks will be assigned |
4. |
Term Project |
25% |
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針對學生困難提供學生調整方式 |
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上課形式 |
以錄影輔助, 提供學生彈性出席課程方式 |
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作業繳交方式 |
延長作業繳交期限, 個人報告取代團體報告, 學生與授課老師協議改以其他形式呈現 |
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考試形式 |
延後期末考試日期(時間) |
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其他 |
由師生雙方議定 |
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週次 |
日期 |
單元主題 |
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第1週 |
2/19 |
Introduction to robot vision
Fourier transform |
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第2週 |
2/26 |
Filtering in spatial domain |
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第3週 |
3/4 |
Filtering in frequency domain
Project proposal |
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第4週 |
3/11 |
ROS introduction and applications |
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第5週 |
3/18 |
Image formation and image processing
Image degradation and restoration
Morphological operation |
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第6週 |
3/25 |
1st Exam |
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第7週 |
4/1 |
Geometric methods: Camera calibration |
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第8週 |
4/8 |
Geometric methods: Hand eye calibration, pose estimation |
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第9週 |
4/15 |
Geometric methods: Stereo vision
Model-based vision: Principal component analysis |
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第10週 |
4/22 |
3D vision introduction and applications |
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第11週 |
4/29 |
Biologically inspired vision: neural network |
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第12週 |
5/6 |
Model-based vision: Hough transform
Project preview demonstration |
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第13週 |
5/13 |
Model-based vision: Curvature method, Featuring matching and selection |
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第14週 |
5/20 |
Color vision, Image segmentation |
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第15週 |
5/27 |
Midterm II |
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第16週 |
6/3 |
Term project presentation |
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