Lesson plan lp – mr7008 lp rev. No: 0



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LESSON PLAN

LP – MR7008

LP Rev. No: 0
Date: 02/07/2014
Page 01 of 06
Subject Code & Name: MR7008 & Advanced Computer Vision

Unit : I Branch : ME Mechatronics Semester :III


UNIT I BASIC CONCEPTS FOR COMPUTER VISION 6
Syllabus:
Sampling Theorem – Numerical Differentiation – Differential Geometry – Singular Value Decomposition – Robust Estimators and Model Fitting

Objective:

To understand the various fundamental mathematics behind computer vision algorithms

To expose students to various 3D surface reconstruction algorithms.

To impart knowledge on stereo vision and structure from motion.



Session No.

Topics to be covered

Time

Ref

Teaching Method



Sampling Theorem

50m

2,3

PPT



Numerical Differentiation

50m

2,3

PPT



Differential Geometry

50m

2,3

PPT



Singular Value Decomposition

50m

2,3

PPT



Robust Estimators

50m

2,3

PPT



Model Fitting

50m

2,3

PPT



LESSON PLAN

LP – MR7008

LP Rev. No: 0
Date: 02/07/2014
Page 02 of 06
Subject Code & Name: MR7008 & Advanced Computer Vision

Unit : II Branch : ME Mechatronics Semester :III


UNIT II IMAGE FORMATION AND CAMERA CALIBRATION 6

Syllabus:

Projective Geometry - Imaging through lenses and pin-hole – Basic Photometry – Basic model of imaging geometry – Ideal Camera – Camera with intrinsic parameters – Approximate camera models – Camera Calibration – Methods and Procedure



Objective:
To make students to understand the principle of various types of Cameras and their calibration and image formation

Session No.

Topics to be covered

Time

Ref

Teaching Method

7.

Projective Geometry - Imaging through lenses and pin-hole

50m

1,2

PPT

8.

Basic Photometry

50m

1,2

PPT

9.

Basic model of imaging geometry

50m

1,2

PPT

10.

Ideal Camera – Camera with intrinsic parameters

50m

2,3

PPT

11.

Approximate camera models – Camera Calibration

50m

2,3

PPT

12.

Methods and Procedure

50m

2,3

PPT



LESSON PLAN

LP – MR7008

LP Rev. No: 0
Date: 02/07/2014
Page 03 of 06
Subject Code & Name: MR7008 & Advanced Computer Vision

Unit : III Branch : ME Mechatronics Semester :III


UNIT III SURFACE RECONSTRUCTION TECHNIQUES 9
Syllabus:
Depth Perception in Humans, Cues – Shape from Texture, Shading, Focus, Defocus, Structured Light Reconstruction – Time of Flight Methods

Objective:

Session No.

Topics to be covered

Time

Ref

Teaching Method

13.

Depth Perception in Humans, Cues

50m

2,3,4

PPT

14.

Shape from Texture

50m

2,3,4

PPT

15.

Shape from Shading

50m

2,3,4

PPT

16.

Shape from Focus

50m

2,3,4

PPT

17.

CAT-I

-

-

-

18.

Shape from Defocus

50m

2,3,4

PPT

19.

Structured Light Reconstruction

50m

2,3,4

PPT

20.

Structured Light Reconstruction

50m

2,3,4

PPT

21.

Time of Flight Methods

50m

2,3,4

PPT

To understand the working principle of force and magnetic sensors and to realize their output form.


LESSON PLAN

LP – MR7008

LP Rev. No: 0
Date: 02/07/2014
Page 04 of 06
Subject Code & Name: MR7008 & Advanced Computer Vision

Unit : IV Branch : ME Mechatronics Semester :III



UNIT IV COMPUTATIONAL STEREO AND MOTION 12

Syllabus:

Computational Stereopsis – Geometry, parameters –correlation based methods, feature-based methods – Epipolar Geometry, eight point algorithm – Reconstruction by triangulation, scale factor and up to a projective transformation – Visual Motion – Motion field of rigid objects – Optical Flow – Estimation of motion field – 3D structure and motion from sparse and dense motion fields – Motion based segmentation.



Objective:

To understand the working principle of computational stereo and motion




Session No.

Topics to be covered

Time

Ref

Teaching Method

22.

Computational Stereopsis

50m

1,2,3

PPT

23.

Geometry, parameters

50m

1,2,3

PPT

24.

Correlation based methods

50m

1,2,3

PPT

25.

Feature-based methods

50m

1,2,3

PPT

26.

Epipolar Geometry,

50m

1,2,3

PPT

27.

Eight point algorithm

50m

1,2,3

PPT

28.

Reconstruction by triangulation, scale factor and up to a projective transformation

50m

1,2,3

PPT

29.

Visual Motion – Motion field of rigid objects

50m

1,2,3

PPT

30.

Optical Flow – Estimation of motion field

50m

1,2,3

PPT

31.

3D structure and motion from sparse and dense motion fields

50m


1,2,3

PPT

32.

Motion based segmentation

50m

1,2,3

PPT

33

CAT - II

50m

-

-





LESSON PLAN

LP – MR7008

LP Rev. No: 0
Date: 02/07/2014
Page 05 of 06
Subject Code & Name: MR7008 & Advanced Computer Vision

Unit : V Branch : ME Mechatronics Semester :III



UNIT V ROBOT VISION 12
Syllabus:
Visual Tracking – Kalman Filtering and Sequential Monte Carlo – Visual SLAM, solutions, EKFSLAM, FastSLAM – 3D SLAM – Advanced Visual Servoing, hybrid visual servo, partitioned visual servo.

Objective:

Session No.

Topics to be covered

Time

Ref

Teaching Method

34.

Visual Tracking

50m

2,3,4

BB,PPT

35.

Kalman Filtering

50m

2,3,4

BB,PPT

36.

Sequential Monte Carlo

50m

2,3,4

BB,PPT

37.

Visual SLAM solutions

50m

2,3,4

BB,PPT

38.

Visual SLAM solutions

50m

2,3,4

BB,PPT

39.

EKFSLAM,

50m

2,3,4

BB,PPT

40

FastSLAM

50m

2,3,4

BB,PPT

41.

3D SLAM

50m

2,3,4

BB,PPT

42.

Advanced Visual Servoing

50m

2,3,4

BB,PPT

43.

hybrid visual servo

50m

2,3,4

BB,PPT

44

partitioned visual servo

50m

2,3,4

BB,PPT

45

CAT - III

-

-

-

To discuss the recent trends in Robot Vision and image processing using different signal conditioning units


LESSON PLAN

LP – MR7008

LP Rev. No: 0
Date: 02/07/2014
Page 06 of 06
Subject Code & Name: MR7008 & Advanced Computer Vision

Branch : ME Mechatronics Semester :III


Course Delivery Plan:

Week


1

2

3

3

4

5

6

7

8

8

9

10

11

12

13

I II

I II

I

II


I

II


I

II


I II

I

II

I


II

I

II


I

II


I

II


I

II

I


Units

1

1

1

2

2

2

3

3

3

4

4

4

5

5

5



REFERENCES:
1. Eugene Hecht, A.R. Ganesan “Optics”, Fourth Edition, 2001.

2. EmanueleTrucco, Alessandro Verri, “Introductory Techniques For 3D Computer Vision”, First Edition, 1998.

3. Boguslaw Cyganek, J. Paul Siebert, An Introduction To 3D Computer Vision Techniques And Algorithms, First Edition, 2009.

4. Yi Ma, Jana Kosecka, Stefano Soatto, Shankar Sastry, An Invitation to 3-D Vision From Images to Models, First Edition, 2004






Prepared by

Approved by
Signature






Name

A.KUMARASWAMY

Dr. PITCHANDI. K

Designation


Assistant Professor - ME


Professor & Head

Department of Mechanical Engg.

Date

02/07/2014

02/07/2014



MR7008

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