"We see because we move, we move because we see". In this quote Gibson is alluding to the intimate relationship between vision and motion. As the quote suggests vision and motion go hand in hand, but this is by no means a single instance of the tie between sensing and motion. The proper understanding of the interplay between sensing and control is crucial for achieving better autonomy as well as better interactive systems.
This course will cover basic geometric and algorithmic aspects of estimating various quantities from image sequences, relevant to navigation as well as recovering 3D structure and relative motion between camera and the enviroment; both calibrated and self-calibrated camera case will be covered. The characterization of the parameter space as well as some of the estimation techniques will rely on some concepts from differential geometry. The acquired information can be used both for building a global model of the environment and or local control.
To understand more broadly both kinematic and dynamic aspects of motion of a single rigid body as well as more complicated articulated bodies the course will feature some traditional topics in robotics, such as kinematics and dynamics of articulated bodies. The remaining aspect of motion covered will be that of control; basics of motion planning and control both in task space and image plane will be considered, taking in to account presence of non-holonomic constraints and uncertainties.
Some of these traditional topics and techniques from the areas of computer vision and robotics are highly applicable in the areas of virtual or augumented reality, control of autonomous systems (driving, aircaft landing, mobile robotics), visual servoing, modeling and tracking of kinematic chains and tele-environments and animation where both the a-priori knowledge of the model, sensing, and control go hand in hand.

Grading: Homeworks (about every 2 weeks) %40 Class participation: %30 Final project: %30 Prerequisites: linear algebra,calculus

Computer Vision Compendium
Course Outline
Lecture notes
Homeworks
Readings
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