Informações sobre o curso
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Aprox. 29 horas para completar

Sugerido: 4 weeks of study, 3-5 hours/week...

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Habilidades que você terá

Computer VisionEstimationRandom Sample Consensus (Ransac)Geometry

100% online

Comece imediatamente e aprenda em seu próprio cronograma.

Prazos flexíveis

Redefinir os prazos de acordo com sua programação.

Nível intermediário

Aprox. 29 horas para completar

Sugerido: 4 weeks of study, 3-5 hours/week...

Inglês

Legendas: Inglês

Programa - O que você aprenderá com este curso

Semana
1
7 horas para concluir

Geometry of Image Formation

Welcome to Robotics: Perception! We will begin this course with a tutorial on the standard camera models used in computer vision. These models allow us to understand, in a geometric fashion, how light from a scene enters a camera and projects onto a 2D image. By defining these models mathematically, we will be able understand exactly how a point in 3D corresponds to a point in the image and how an image will change as we move a camera in a 3D environment. In the later modules, we will be able to use this information to perform complex perception tasks such as reconstructing 3D scenes from video.

...
15 vídeos ((Total 180 mín.)), 1 leitura, 9 testes
15 videos
Camera Modeling10min
Single View Geometry14min
More on Perspective Projection8min
Glimpse on Vanishing Points10min
Perspective Projection I14min
Perspective Projection II14min
Point-Line Duality8min
Rotations and Translations18min
Pinhole Camera Model10min
Focal Length and Dolly Zoom Effect8min
Intrinsic Camera Parameter13min
3D World to First Person Transformation13min
How to Compute Intrinsics from Vanishing Points12min
Camera Calibration11min
1 leituras
Setting up MATLAB10min
8 exercícios práticos
Introduction14min
Vanishing Points10min
Perspective Projection10min
Rotations and Translations14min
Dolly Zoom4min
Feeling of Camera Motion6min
How to Compute Intrinsics from Vanishing Points4min
Camera Calibration6min
Semana
2
5 horas para concluir

Projective Transformations

Now that we have a good camera model, we will explore the geometry of perspective projections in depth. We will find that this projection is the cause of the main challenge in perception, as we lose a dimension that we can no longer directly observe. In this module, we will learn about several properties of projective transformations in depth, such as vanishing points, which allow us to infer complex information beyond our basic camera model.

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5 vídeos ((Total 69 mín.)), 5 testes
5 videos
Compute Projective Transformations13min
Projective Transformations and Vanishing Points6min
Cross Ratios and Single View Metrology13min
Two View Soccer Metrology11min
4 exercícios práticos
Homogeneous Coordinates10min
Projective Transformations8min
Vanishing Points8min
Cross Ratios and Single View Metrology8min
Semana
3
6 horas para concluir

Pose Estimation

In this module we will be learning about feature extraction and pose estimation from two images. We will learn how to find the most salient parts of an image and track them across multiple frames (i.e. in a video sequence). We will then learn how to use features to find the position of the camera with respect to another reference frame on a plane using Homographies. We will also learn about how to make these techniques more robust, using least squares to hand noisy feature points or RANSAC to remove completely erroneous feature points.

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8 vídeos ((Total 126 mín.)), 6 testes
8 videos
Singular Value Decomposition30min
RANSAC: Random Sample Consensus I13min
Where am I? Part 116min
Where am I? Part 213min
Pose from 3D Point Correspondences: The Procrustes Problem9min
Pose from Projective Transformations8min
Pose from Point Correspondences P3P10min
5 exercícios práticos
Visual Features12min
Singular Value Decomposition16min
RANSAC6min
3D-3D Pose2min
Pose Estimation8min
Semana
4
8 horas para concluir

Multi-View Geometry

Now we will use what we learned from two view geometry and extend it to sequences of images, such as a video. We will explain the fundamental geometric constraints between point features in images, the Epipolar constraint, and learn how to use it to extract the relative poses between multiple frames. We will finish by combining all this information together for the application of Structure from Motion, where we will compute the trajectory of a camera and a map throughout many frames and refine our estimates using Bundle adjustment.

...
14 vídeos ((Total 221 mín.)), 5 testes
14 videos
Epipolar Geometry II14min
Epipolar Geometry III24min
RANSAC: Random Sample Consensus II6min
Nonlinear Least Squares I3min
Nonlinear Least Squares II6min
Nonlinear Least Squares III13min
Optical Flow: 2D Point Correspondences19min
3D Velocities from Optical Flow16min
3D Motion and Structure from Multiple Views18min
Visual Odometry19min
Bundle Adjustment I17min
Bundle Adjustment II18min
Bundle Adjustment III17min
4 exercícios práticos
Epipolar Geometry24min
Nonlinear Least Squares12min
3D Velocities from Optical Flow6min
Bundle Adjustment10min
4.4
120 avaliaçõesChevron Right

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Principais avaliações do Robotics: Perception

por SKApr 1st 2018

Outstanding Course! I could always count on Prof.Jianbo to crunch some of the most complex and confusing parts of the course into a much easier understandable language.

por LRJan 1st 2019

This is quite challenging course. So far, this is the course with the largest amount of material, I wish the class will be split into two courses.

Instrutores

Avatar

Kostas Daniilidis

Professor of Computer and Information Science
School of Engineering and Applied Science
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Jianbo Shi

Professor of Computer and Information Science
School of Engineering and Applied Science

Sobre Universidade da Pensilvânia

The University of Pennsylvania (commonly referred to as Penn) is a private university, located in Philadelphia, Pennsylvania, United States. A member of the Ivy League, Penn is the fourth-oldest institution of higher education in the United States, and considers itself to be the first university in the United States with both undergraduate and graduate studies. ...

Sobre o Programa de cursos integrados Robótica

The Introduction to Robotics Specialization introduces you to the concepts of robot flight and movement, how robots perceive their environment, and how they adjust their movements to avoid obstacles, navigate difficult terrains and accomplish complex tasks such as construction and disaster recovery. You will be exposed to real world examples of how robots have been applied in disaster situations, how they have made advances in human health care and what their future capabilities will be. The courses build towards a capstone in which you will learn how to program a robot to perform a variety of movements such as flying and grasping objects....
Robótica

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