課程名稱 |
三維動態環境感知 3D Dynamic Environment Perception |
開課學期 |
101-1 |
授課對象 |
電機資訊學院 資訊工程學研究所 |
授課教師 |
王傑智 |
課號 |
CSIE7422 |
課程識別碼 |
922 U4040 |
班次 |
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學分 |
3 |
全/半年 |
半年 |
必/選修 |
選修 |
上課時間 |
星期二5,6,7(12:20~15:10) |
上課地點 |
資107 |
備註 |
限學士班三年級以上 總人數上限:50人 |
Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/10113ddep |
課程簡介影片 |
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核心能力關聯 |
本課程尚未建立核心能力關連 |
課程大綱
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課程概述 |
FINDING A SOLUTION TO 3D DYNAMIC ENVIRONMENT UNDERSTANDING IS A KEY PREREQUISITE FOR MAKING ROBOTIC SYSTEMS TRULY AUTONOMOUS AND MAKING MANY POTENTIAL APPLICATIONS FEASIBLE. 3D DYNAMIC ENVIRONMENT PERCEPTION IS ONE OF THE MOST IMPORTANT RESEARCH TOPICS IN BOTH ROBOTICS AND COMPUTER VISION. IN THIS COURSE, THE STATE-OF-THE-ART APPROACHES IN 3D DYNAMIC ENVIRONMENT PERCEPTION USING A VARIETY OF SENSORS SUCH AS A MONOCULAR CAMERA, STEREO CAMERAS, LASER SCANNERS AND RGB-D CAMERAS WILL BE DESCRIBED. |
課程目標 |
THIS CLASS WILL COVER GEOMETRY-BASED AND LEARNING-BASED METHODS IN 3D DYNAMIC ENVIRONMENT PERCEPTION WITH AN EMPHASIS ON SEGMENTATION AND RECONSTRUCTION OF DYNAMIC SCENES. TOPICS INCLUDE: SENSORS (CAMERAS, LASER SCANNERS AND RGB-D CAMERAS), RECONSTRUCTION OF STATIC SCENES (TRACKING, DATA ASSOCIATION, MULTI-VIEW GEOMETRY, STRUCTURE FROM MOTION, MONOCULAR SIMULTANEOUS LOCALIZATION AND MAPPING), RECONSTRUCTION OF DYNAMIC SCENES (MOTION SEGMENTATION, NON-RIGID STRUCTURE FROM MOTION, MULTI-BODY STRUCTURE FROM MOTION, MONOCULAR SLAMMOT), AND 3D FACE ALIGNMENT AND RECONSTRUCTION. |
課程要求 |
You should have taken any robotics- and/or computer vision- related courses. Hands-on experience with software development in Matlab, C or C++ will be helpful for this course. But the most important prerequisite will be creativity and enthusiasm, and a desire to explore.
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預期每週課後學習時數 |
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Office Hours |
每週二 12:00~13:20 |
指定閱讀 |
To be announced. |
參考書目 |
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評量方式 (僅供參考) |
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週次 |
日期 |
單元主題 |
Week 1 |
9/11 |
Introduction |
Week 2 |
9/18 |
Representation of a 3-D Moving Scene |
Week 3 |
9/25 |
Image Formation, Image Primitives and Correspondence |
Week 4 |
10/02 |
Image Primitives and Correspondence |
Week 5 |
10/09 |
Reconstruction from Two Calibrated Views |
Week 6 |
10/16 |
Midterm Exam 1 |
Week 7 |
10/23 |
Reconstruction from Two Uncalibrated Views |
Week 8 |
10/30 |
Reconstruction from Two Uncalibrated Views, and Multiple View Geometry of Points |
Week 9 |
11/06 |
Final Project Proposal Presentation and Midterm Exam 1 discussion |
Week 10 |
11/13 |
Multiple View Geometry of Points, Structure from Motion, and Range Sensors |
Week 11 |
11/20 |
Non-rigid Structure from Motion |
Week 12 |
11/27 |
Midterm Exam 2 |
Week 13 |
12/04 |
NRSFM |
Week 14 |
12/11 |
SLAM and Monocular SLAM |
Week 15 |
12/18 |
SLAMMOT |
Week 16 |
12/25 |
SLAMMOT 2.0 |
Week 17 |
1/01 |
National Holiday. No Class. |
Week 18 |
1/08 |
Final Project Presentation |
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