# Lesson plan lp – mr7008 lp rev. No: 0

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DOC/LP/01/28.02.2002

LESSON PLAN

LP – MR7008

LP Rev. No: 0
##### 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
##### 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
##### 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
##### 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
##### 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
##### 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

Department of Mechanical Engg.

Date

02/07/2014

02/07/2014

MR7008