Topic

No. of hours

Lecture

Tutorial/Practical

Foundations :-

Representing Position and Orientation.

Representing Pose in 2-Dimensions.

Representing Pose in 3-Dimensions.

Representing Orientation in 3-dimensions.

Combining Translation and Orientation.

3

3

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Time and Motion :-

Trajectories.

Smooth One-Dimensional Trajectories.

Multi-Dimensional Case.

Multi-Segment Trajectories.

Interpolation of Orientation in 3D.

Cartesian Motion.

Time Varying Coordinate Frames.

Rotating Coordinate Frame.

Incremental Motion.

Inertial Navigation Systems.

3

3

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Mobile Robots :-

Mobile Robot Vehicles.

Mobility.

Car-like Mobile Robots.

Moving to a Point.

Following a Line.

Following a Path.

Moving to a Pose.

Flying Robots.

3

3

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Navigation :-

Reactive Navigation.

Braitenberg Vehicles.

Simple Automata.

Map-Based Planning.

Distance Transform.

Voronoi Roadmap Method.

Probabilistic Roadmap Method.

RRT.

3

3

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Localization :-

Dead Reckoning.

Modeling the Vehicle.

Estimating Pose.

Using a Map.

Creating a Map.

Localization and Mapping.

Monte-Carlo Localization.

3

3

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Arm-Type Robots :-

Robot Arm Kinematics.

Describing a Robot Arm.

Forward Kinematics.

A 2-Link Robot.

A 6-Axis Robot.

Inverse Kinematics.

Closed-Form Solution.

Numerical Solution.

Under-Actuated Manipulator.

Redundant Manipulator.

Trajectories.

Joint-Space Motion.

Cartesian Motion.

Motion through a Singularity.

Configuration Change.

Advanced Topics.

Joint Angle Offsets.

Determining Denavit-Hartenberg Parameters.

Modified Denavit-Hartenberg Notation.

Application: Drawing.

Application: a Simple Walking Robot Kinematics.

Motion of One Leg.

Motion of Four Legs.

3

3

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Velocity Relationships:-

Manipulator Jacobian.

Transforming Velocities.

between Coordinate Frames.

Jacobian in the End-Effector Coordinate Frame.

Analytical Jacobian.

Jacobian Condition and Manipulability Resolved-Rate Motion Control.

Jacobian Singularity.  

Jacobian for under-Actuated Robot.

Jacobian for over-Actuated Robot.

Force Relationships.

Transforming Wrenches between Frames.

Transforming Wrenches to Joint Space.

Inverse Kinematics: a General Numerical Approach.

3

3

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Dynamics and Control.

Equations of Motion.

Gravity Term.

Inertia Matrix.

Coriolis Matrix.

Effect of Payload.

Base Force.

Dynamic Manipulability.

Drive Train.

Friction.

Forward Dynamics.

Manipulator Joint Control.

Actuators.

Independent Joint Control.

Rigid-Body Dynamics Compensation.

Flexible Transmission.

3

3

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Light and Color :-

Spectral Representation of Light.

Absorption.

Reflection.

Color.

Reproducing Colors.

Chromaticity Space.

Color Names.

Other Color Spaces.

10.2.5 Transforming between Different Primaries.

Color Constancy.

White Balancing.

Color Change Due to Absorption.

Gamma.

Application: Color Image.

3

3

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Image Formation :-

Perspective Transform.

Lens Distortion.

Camera Calibration.

Homogeneous Transformation Approach.

Decomposing the Camera Calibration Matrix.

Pose Estimation.

Camera Calibration Toolbox.

Non-Perspective Imaging Models.

Fisheye Lens Camera.

Catadioptric Camera.

Spherical Camera.

Unified Imaging.

Mapping Wide-Angle Images.

to the Sphere.

Synthetic Perspective Images.

Camera Classes.

3

3

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Image Processing : -

Obtaining an Image.  

Images from Files.  

Images from an Attached Camera.

Images from a Movie File.

Images from the Web.

Images from Code . 

Monadic Operations.

Diadic Operations.

Spatial Operations.

Convolution.

Template Matching.

Non-Linear Operations.

Mathematical Morphology.

Noise Removal.

Boundary Detection.

Hit and Miss Transform.

Shape Changing.

Cropping.

Image Resizing.

Image Pyramids.

Image Warping.

3

3

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Image Feature Extraction : -

Region Features.

Classification.

Representation.

Description.

Recap.

Line Features.

Point Features.

Classical Corner Detectors.

Scale-Space Corner Detectors.

Using Multiple Images : -

Feature Correspondence.

Geometry of Multiple Views.

The Fundamental Matrix.

The Essential Matrix.

Estimating the Fundamental Matrix . Planar Homography.

Stereo Vision.

Sparse Stereo.

Dense Stereo Matching.

Peak Refinement.

Cleaning up and Reconstruction.

3D Texture Mapped Display.

Anaglyphs.

Image Rectification.

Plane Fitting.

Matching Sets of 3D Points.

3

3

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