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WS 12/13: Probabilistic Robotics

From Multimedia Computing Lab - University of Augsburg


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Overview

Instructors: Prof. Dr. Rainer Lienhart, Fabian Richter
Time Lecture: Thursday, 10:00 - 11:30, Room: 1020 N, starts on October 18th
Time Exercise: Thursday, 12:15 - 13:45, Room: 1020 N.
The first assignment will be handed out on November 8th; the exercise starts the following week, on November 15th.
Credits: 2 + 2 SWS, Schein: yes, LP 5
Exam: Thursday, Feb 21st, 2013, 10:00-11:30, room 2045N
Multimedia Teilbereiche: Multimedia Methoden, Multimedia Anwendungen, Systemnahe Grundlagen von Multimedia

News

  • Due to the holiday on November 1st, no lecture will be held at that day. Also, the first assignment will be delayed until November 8th.

Synopsis

In the course of this lecture students will get to know how robots can estimate their state (e.g. their pose) in a probabilistic fashion, i.e. in the face of uncertainty.

The main focus of this lecture is on the Bayes Filter algorithm which enables robots to estimate their new state after executing a control and to incorporate sensor measurements to update their belief. Various flavors of the Bayes Filter such as the Kalman Filter and the Particle Filter will be discussed in detail .

Furthermore, students will get to know different ways to model robot motion and measuerments of various types of sensors.

The final chapters of the lecture will be on approaches to robot localization, i.e. the problem of the robot having to determine its position on a given map of the environment. Also, the localization problem will be discussed for situations when the robot has to generate a map itself by occupancy grid mapping or simultaneous localization and mapping (SLAM) algorithms.

Exercise and Exam

  • There will be an exercise sheet every week
  • Solutions will be discussed during exercises on Wednesdays (no handing-in or revision of written solutions)
  • Students are encouraged to present their solutions
  • No admission requirements for the exam

Important Comments

  • Vorlesung wird auf Deutsch gehalten (trotz der englischsprachigen Folien und Literatur)
  • All reading notes are relevant for the exams independent on how thoroughly they have been discussed during the lecture. Thus read and study them carefully.

Literature

Sebastian Thrun, Wolfram Burgard, Dieter Fox. Probabilistic Robotics. Springer Verlag. (http://www.probabilistic-robotics.org/)
Mandatory to read chapters 1 - 8