\\ \\ ====== Lectures 2024 ====== Lectures take place every Monday from 11:00-12:30 in KN:E-107. \\ ^ Week ^ Date ^ Lecturer ^ Topics ^ Presentations ^ |1| 19.02.2024 | KZ | __Introduction:__ course organization, prerequisites and problem definition | {{ :courses:aro:lectures:00_aro_outline.pdf |}}\\ {{ :courses:aro:lectures:01_problem_definition.pdf |}} \\ [[https://www.youtube.com/watch?v=2bhi9UEW_5k&list=PLQL6z4JeTTQmslm7iNINX2cLBYuU4iUp2|lecture_01_recording]]| |2| 26.02.2024 | KZ | __How to fuse almost anything:__ Localization and factor graphs | {{ :courses:aro:lectures:00_localization_mle.pdf |}} \\ [[https://www.youtube.com/watch?v=V9DZBuxnoWQ&list=PLQL6z4JeTTQmslm7iNINX2cLBYuU4iUp2&index=2| lecture_02_recording]]| |3| 04.03.2024 | KZ | __Where the hell am I, and where is the stuff around me?__ SLAM in SE(2) with (i) measurement models of 2D/3D marker detectors, UWB, GPS/GNSS, odometry, and (ii) differential drive motion model | {{ :courses:aro:lectures:00_localization_se2.pdf |}} \\ [[https://www.youtube.com/watch?v=ez16tuFiGq0&list=PLQL6z4JeTTQmslm7iNINX2cLBYuU4iUp2&index=3 | lect_03_recording]] | |4| 11.03.2024 | KZ | __How can I find myself without markers?__ SLAM with lidar and camera and its efficient optimization on SE(2)/SE(3) manifolds (Absolute orientation, Camera localization/calibration, Levenberg-Marquardt) | {{ :courses:aro:lectures:00_absolute_orientation.pdf |}}\\ {{ :courses:aro:lectures:01_icp.pdf |}}\\ [[https://www.youtube.com/watch?v=cpV5yqeHUFE&list=PLQL6z4JeTTQmslm7iNINX2cLBYuU4iUp2&index=4|lect_04_recording]]| |5| 18.03.2024 | KZ | __Do I really need to remember all that stuff forever?__ Kalman filter | {{ :courses:aro:lectures:00_kf.pdf |}}\\ [[https://www.youtube.com/watch?v=ax1P10uNfLE&list=PLQL6z4JeTTQmslm7iNINX2cLBYuU4iUp2&index=5|lect_05_recording]]| |6| 25.03.2024 | KZ | __Maximum aposteriori estimate in real-time:__ Extended Kalman filter, Gauss_newton, Levenberg-Marquardt, Trust region methods | {{ :courses:aro:lectures:01_ekf.pdf |}} \\ {{ :courses:aro:lectures:00_optimization_se2.pdf |}} \\ [[https://www.youtube.com/watch?v=nAujkwpv7og&list=PLQL6z4JeTTQmslm7iNINX2cLBYuU4iUp2&index=6|lec_06_recording]]| |7| 01.04.2024 | - | //---- Easter holidays ----// | | |8| 8.04.2024 | VV | Exploration, introduction to motion planning | {{ :courses:aro:lectures:2024-exploration.pdf |}}, {{ :courses:aro:lectures:2024-planning-basics.pdf |}}, [[ https://www.youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP | Videos ]] | |9| 15.04.2024 | KZ | __Beyond normal distributions:__ Robust regression + RANSAC, Non-parametric pdfs with Bayes filter \\ __Learning in robotics:__ Advanced optional lecture that assumes prior knowledge of deep-learning concepts. | | |10| 22.04.2024 | VV | Combinatorial motion planning | {{ :courses:aro:lectures:2024-planning-combinatorial.pdf |}} [[ https://www.youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP | Videos ]] | |11| 29.05.2024 | VV | Sampling-based motion planning I | {{ :courses:aro:lectures:2024-planning-samplingi.pdf |}} | |12| 06.05.2024 | VV | Sampling-based motion planning II | | |13| 13.05.2024 | VV | Sampling-based motion planning III | | |14| 20.05.2024 | VV | Sampling-based motion planning IV: basic modifications, implementation details | | Recordings of particular lectures are available [[https://www.youtube.com/playlist?list=PLQL6z4JeTTQmslm7iNINX2cLBYuU4iUp2 |here]]. /* Recordings of particular lectures are available [[https://www.youtube.com/playlist?list=PLQL6z4JeTTQmixBJIPBY3Ejs2HFIOsOkC|here]]. ====== OLD STUFF: Lectures 2023 ====== Lectures take place every Monday from 11:00-12:30 in KN:E-107. \\ ^ Week ^ Date ^ Lecturer ^ Topics ^ Presentations ^ |1| 20.02.2023 | KZ | Introduction, problem definition | {{ :courses:aro:lectures:00_aro_outline.pdf |}} \\ {{ :courses:aro:lectures:01_problem_definition.pdf |}}| |2| 27.02.2023 | KZ | Localization and factor graphs | {{ :courses:aro:lectures:00_localization_mle.pdf |}} | |3| 06.03.2023 | KZ | Localization in SE(2) + SLAM with camera markers + optimization issues| {{ :courses:aro:lectures:00_localization_se2.pdf |}} | |4| 13.03.2023 | KZ | Absolute orientation in SE(2) and SE(3) | {{ :courses:aro:lectures:00_absolute_orientation.pdf |}} | |5| 20.03.2023 | KZ | SLAM with ICP odometry, Outliers (Robust regression and RANSAC), Planning-friendly map | {{ :courses:aro:lectures:01_icp.pdf |}} \\ {{ :courses:aro:lectures:02_ransac.pdf |}} | |6| 27.03.2023 | KZ | Bayes filter, (Extended) Kalman filter | {{ :courses:aro:lectures:00_localization_bayes.pdf |}} \\ {{ :courses:aro:lectures:01_localization_kf.pdf |}} \\ {{ :courses:aro:lectures:02_localization_ekf.pdf |}} | |7| 03.04.2023 | VV | Motion planning: introduction | {{ :courses:aro:lectures:2023-planning-motivation.pdf | Motivation}}, {{ :courses:aro:lectures:2023-planning-basics.pdf | Planning introduction}}, [[ https://www.youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP | Videos]] | |8| 10.04.2023 | - | Svátek | |9| 17.04.2023 | VV | Exploration, Combinatorial motion planning | {{ :courses:aro:lectures:2023-exploration.pdf | Exploration}} | |10| 24.04.2023 | VV | Combinatorial motion planning | {{ :courses:aro:lectures:2023-planning-combinatorial.pdf | Combinatorial path planning}} | |11| 01.05.2023 | - | Svátek | |11| 04.05.2023 | VV | Sampling-based motion planning I | {{ :courses:aro:lectures:2023-planning-samplingI.pdf | Sampling-based planning I}} | |12| 08.05.2023 | - | Svátek | |12| 09.05.2023 | VV | Sampling-based motion planning II | {{ :courses:aro:lectures:2023-planning-samplingII.pdf | Sampling-based planning II}}| |13| 15.05.2023 | VV | Sampling-based motion planning III & IV: basic modifications, implementation details | {{ :courses:aro:lectures:2023-planning-samplingIII.pdf | Sampling-based planning III}}, {{ :courses:aro:lectures:2023-planning-samplingIV.pdf | Sampling-based planning IV}}| |14| 22.05.2023 | KZ | Camera and depth sensors (principles and calibration) | {{ :courses:aro:lectures:01_rgb_camera.pdf |}} \\ {{ :courses:aro:lectures:02_rgbd_cameras.pdf |}} \\ {{ :courses:aro:lectures:03_take_home_message.pdf |}} | Recordings of particular lectures are available [[https://www.youtube.com/playlist?list=PLQL6z4JeTTQmixBJIPBY3Ejs2HFIOsOkC|here]]. */ ====== Lecturers ====== {{:courses:b3b33vir:karel_zimmermann.png?160 |http://cmp.felk.cvut.cz/~zimmerk}} [[http://cmp.felk.cvut.cz/~zimmerk/|Karel Zimmermann]] (KZ) is the main lecturer and associate professor at the Czech Technical University in Prague. He worked as postdoctoral researcher with the Katholieke Universiteit Leuven (2008-2009) in the group of prof Luc van Gool. His current H-index is 13 (google-scholar) and he serves as a reviewer for major journals such as TPAMI or IJCV and conferences such as CVPR, ICCV, IROS. He received the best lecturer award in 2018, the best reviewer award at CVPR 2011 and the best PhD work award in 2008. His journal paper has been selected among 14 best research works representing Czech Technical University in the government evaluation process (RIV). Since 2010 he has been chair of Antonin Svoboda Award ([[http://svobodovacena.cz]]). He was also with the Technological Education Institute of Crete (2001), with the Technical University of Delft (2002), with the University of Surrey (2006). His current research interests include learnable methods for robotics. \\ \\ {{:courses:aro:lectures:vojta.png?160 |http://mrs.felk.cvut.cz/people/vonasek}} [[http://mrs.felk.cvut.cz/people/vonasek/|Vojta Vonásek]] (VV) is the second lecturer and PostDoc researcher at the Department of Cybernetics. He spent one year at Karlsruhe Institute of Technology (KIT) at the institut IAR/IPR. He was a post-doc researcher at the Institut für Werkzeugmaschinen und Fabrikbetrieb, Technische Universität Berlin, Berlin, Germany within German Academic Exchange Service (DAAD) post-doc programme in 2017. He serves as the reviewer for robotic journals (Autonomous Robots, IEEE Robotics and Automation Letters, International Journal of Automation and Computing, Robotics and Autonomous Systems, ..) and many conferences. His research interests include path and motion planning, automatic learning of locomotion gaits of modular robots and application of motion planning techniques in computational biochemistry. \\ \\ /* {{:courses:aro:lectures:vh.jpg?160 |http://people.ciirc.cvut.cz/hlavac/}} [[http://people.ciirc.cvut.cz/hlavac/|Václav Hlaváč]] (VH) is professor of engineering cybernetics; deputy director of CIIRC; head of the Robotics and Machine Perception department at CIIRC; head of the informal group called Center Machine Perception, est. 1996, spanning Faculty of Electrical Engineering and CIIRC since 2013, both CTU. H-index WoS 15; H-index Scopus 21, H-index Google Scholar 36; His research interest includes computer vision, reconstruction of 3D scenes from 2D images, analysis of video sequences, pattern recognition with emphasis to relation between statistical and structural methods, autonomous robotics, robotic manipulation with soft materials, industrial and other applications of the above. \\ \\ \\ \\ \\ \\ \\ \\ \\ [[ https://docs.google.com/forms/d/e/1FAIpQLSfZuLILdDALHVHu0q2Y4SyT59aYqFGM1RTcFd9PXaq7bbZx6A/viewform?usp=sf_link | Questions ]] */ /* ====== OLD Lectures 2022 ====== Lectures take place every Monday from 11:00-12:30 in KN:E-107. \\ Recordings are available on [[https://www.youtube.com/playlist?list=PLQL6z4JeTTQmO48xmXVOkm6QFbNg80Ru4| youtube]]. \\ Localization and mapping worksheet {{ :courses:b3m33aro:lectures:questions_aro_2022.pdf |}}. \\ ^ Week ^ Date ^ Lecturer ^ Block ^ Topics ^ Presentations ^ | 1| 14.02.2022 | KZ | Localization I | __Problem formulation:__ problem formulation, states, actions, rewards, costs, transition probability, measurement model, conditional independence, complete state and Markov assumption. | {{ :courses:b3m33aro:lectures:00_aro_outline.pdf |}}, \\ {{ :courses:b3m33aro:lectures:01_problem_definition.pdf |}}\\ [[https://www.youtube.com/playlist?list=PLQL6z4JeTTQmO48xmXVOkm6QFbNg80Ru4 | lecture_01]] | | 2 | 21.02.2022 | KZ | Localization II | __Localization from simple sensors:__ posterior belief + Bayes filter + KF for fusing the motion model and simple sensors (IMU, odometry, GPS, beacons) | {{ :courses:b3m33aro:lectures:00_localization_bayes.pdf |}}\\ {{ :courses:b3m33aro:lectures:01_localization_kf.pdf |}}\\ [[https://www.youtube.com/watch?v=vhYmn0y3WMY&list=PLQL6z4JeTTQmO48xmXVOkm6QFbNg80Ru4&index=2|lecture_02]] | | 3 | 28.02.2022 | KZ | Localization III | __Localization from lidar:__ EKF, ICP intro | {{ :courses:b3m33aro:lectures:00_localization_ekf.pdf |}} \\ [[https://www.youtube.com/watch?v=or39VnR8gGE&list=PLQL6z4JeTTQmO48xmXVOkm6QFbNg80Ru4&index=3|lecture_03]]| | 4 | 07.03.2022 | KZ | SLAM I | __SLAM from lidar:__ transformation between coordinate frames, generalized ICP | {{ :courses:b3m33aro:lectures:01_transformations_and_lidar_calibration.pdf |}} \\ {{ :courses:b3m33aro:lectures:00_localization_lidar.pdf |}} \\ [[https://www.youtube.com/watch?v=uyWauEEv_sM&list=PLQL6z4JeTTQmO48xmXVOkm6QFbNg80Ru4&index=4 |lecture_04]] | | 5 | 14.03.2022 | VV | Planning and Exploration | __Exploration:__ task definition, frontier-based exploration. __Planning:__ introduction to path and motion planning | {{ :courses:b3m33aro:lectures:exploration.pdf | Exploration}}, {{ :courses:b3m33aro:lectures:planning-motivation.pdf | Motion planning: usage}}, [[https://www.youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP|Videos]] | | 6 | 21.03.2022 | VV | Planning II | __geometry-based path planning methods__ | {{ :courses:b3m33aro:lectures:planning-basics.pdf | Motion planning}}, [[https://www.youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP|Videos]] | | 7 | 28.03.2022 | VV | Planning III | __Sampling-based motion planning:__ basic methods (PRM, RRT, EST) | {{ :courses:b3m33aro:lectures:planning-sampling.pdf | Sampling-based planning I}}, [[https://www.youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP|Videos]] | | 8 | 04.04.2022 | KZ | SLAM II | __Occupancy grid:__ ICP SLAM and occupancy grid | {{ :courses:b3m33aro:lectures:00_localization_lidar.pdf |}} \\ {{ :courses:b3m33aro:lectures:01_occupancy_grid.pdf |}} \\ [[https://www.youtube.com/watch?v=0_GO4LkNphU&list=PLQL6z4JeTTQmO48xmXVOkm6QFbNg80Ru4&index=8|lecture_08]] | | 9 | 11.04.2022 | KZ | SLAM III | __Robust regression: from ICP to RANSAC:__ RGB(D) camera models, calibration, RANSAC | {{ :courses:b3m33aro:lectures:robust_mapping_lidar_camera_ii.pdf |}}\\ {{ :courses:b3m33aro:lectures:01_rgb_camera.pdf |}}\\ [[https://www.youtube.com/watch?v=bS6v9ACpyHM&list=PLQL6z4JeTTQmO48xmXVOkm6QFbNg80Ru4&index=9|lecture_09]] | | 10 | 18.04.2022 | **State holiday. Easter Monday** |||| | 11 | 25.04.2022 | VV | Planning IV | __Sampling-based motion planning:__ basic methods (PRM, RRT, EST), their extension for optimal planning, performance measures | {{ :courses:b3m33aro:lectures:planning-sampling2.pdf | Sampling-based planning II}}; [[https://www.youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP|Videos]] | | 12 | 02.05.2022 | VV | Planning V | __Sampling-based planning:__ advanced planning methods | {{ :courses:b3m33aro:lectures:planning-sampling3.pdf | Sampling-based planning III}}; [[https://www.youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP|Videos]] | | 13 | 09.05.2022 | VV | Planning VI | __Sampling-based planning:__ technical details | {{ :courses:b3m33aro:lectures:planning-sampling4.pdf | Sampling-based planning IV}}; [[https://www.youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP|Videos]] | | 14 | 16.05.2022 | VH | Applications | Guest lecture: [[http://people.ciirc.cvut.cz/hlavac/|Václav Hlaváč, CIIRC]] | | ===== OLD LECTURES 2021===== ^ Week ^ Date ^ Lecturer ^ Block ^ Topics ^ Presentations ^ | 1 | 15. 2. 2021 | KZ | Mapping I | Sensors I Lidar and Euclidean transformation. | **[[https://bbb04.felk.cvut.cz//playback/presentation/2.0/playback.html?meetingId=6ef7a95309b7131f453322bac5972b7278070785-1613378702027|lecture_01_recording]]**\\ {{ :courses:aro:lectures:robot_lidars_tf.pdf |}},\\ {{ :courses:aro:lectures:aro_outline.pdf |}},\\ [[https://eater.net/quaternions|interactive quaternons]]| | 2 | 22. 2. 2021 | KZ | Mapping II | Sensors II (camera and RGBD sensors + calibration) | **[[https://bbb04.felk.cvut.cz//playback/presentation/2.0/playback.html?meetingId=c8254e57d5cf3053206964db92ba7708f8a4723b-1613983501876|lecture_02_recording]]**\\ {{ :courses:aro:lectures:camera_calibration.pdf |}} \\ {{ :courses:aro:lectures:rgbd_cameras.pdf |}} \\ {{ :courses:aro:lectures:questions_01_camera_lidar_stereo_aro.pdf |}} \\ {{ :courses:aro:lectures:sensor_worksheet_solution.txt | solution_01}} | | 3 | 01. 3. 2021 | KZ | Mapping III | SLAM I (3D-3D and 3D-2D correspondences, ICP, building the occupancy grid) | **[[https://drive.google.com/drive/folders/19b4to1cQoZSdjnAn5ij5gC0Rh92mQfrs?usp=sharing | lecture_03_recording+slides]] **\\ {{ :courses:aro:lectures:questions_02_slam_aro.pdf |}}| | 4 | 08. 3. 2021 | VV | Planning I | Exploration, intro to path planning, geometric path planning | **[[https://bbb04.felk.cvut.cz//playback/presentation/2.0/playback.html?meetingId=4763ebd5ea38f554eac6184130431774e517fe42-1615193101965|lecture_04_recording]]**\\ {{ :courses:aro:lectures:exploration.pdf |}} {{ :courses:aro:lectures:basics.pdf |}} {{ :courses:aro:lectures:motivation.pdf |}} \\ [[https://youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP|Videos]] | | 5 | 15. 3. 2021 | VV | Planning II | Sampling-based motion planning I | **[[https://bbb04.felk.cvut.cz//playback/presentation/2.0/playback.html?meetingId=e1040655fdfaa90cf58087e2fba4792dfe636d44-1615797902526|lecture_05_recording]]** \\ {{ :courses:aro:lectures:planning-sampling.pdf |}} \\ [[https://youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP|Videos]] | | 6 | 22 .3. 2021 | KZ | Learning I | MLE, MAP, Prior, Linear Classification and Regression | **[[https://bbb04.felk.cvut.cz//playback/presentation/2.0/playback.html?meetingId=a483d71117d79d6967a6b87e92e57eb91c8e713b-1616402701585|lecture_06_recording]]**\\ {{ :courses:aro:lectures:mle_01_regression.pdf |}}\\ {{ :courses:aro:lectures:mle_02_classification.pdf |}}\\ {{ :courses:aro:lectures:mle_linear_classifier_00.py.zip |}}| | 7 | 29. 3. 2021 | KZ | Learning II | Deep learning - ConvNet, Yolo, Precision, Recall, FP, FN, TP, TN | **[[https://bbb04.felk.cvut.cz//playback/presentation/2.0/playback.html?meetingId=21bd4d85cfeccb5e6b7f2e5bfcc9b186503e061d-1617003901605|lecture_07_recording]]**\\ {{ :courses:aro:lectures:learning_for_vision_ii_neural_nets.pdf |}}\\ {{ :courses:aro:lectures:convnets_all_in_one.pdf |}}\\ {{ :courses:aro:lectures:questions_03_ml_neuralnets_aro.pdf |}} \\ {{ :courses:aro:lectures:solution_03.txt |}} | | 8 | **5. 4. 2021** | | | **State holiday. Easter Monday** || | 9 | 12. 4. 2021 | KZ | Learning III \\ Mapping IV | Reinforcement Learning \\ SLAM II (RANSAC) | **[[https://bbb04.felk.cvut.cz//playback/presentation/2.0/playback.html?meetingId=9231fcdfb1aa0a3612a51887b09c128ba0ce9fa4-1618213501284|lecture_08_recording]]**\\ {{ :courses:aro:lectures:reinforcement_learning.pdf |}} \\ [[https://drive.google.com/drive/folders/1RZDdyuoFCbxLiQs3lnuXZGTG1Dt_1dux?usp=sharing | SLAM_II]] \\ | | 10 | 19. 4. 2021 | VV | Planning III| Sampling-based planning II | **[[https://bbb04.felk.cvut.cz//playback/presentation/2.0/playback.html?meetingId=b9c9d0e42153c27e148a7e70a5b087469d46e952-1618818302125|lecture_09_recording]]**\\ {{ :courses:aro:lectures:planning-sampling2.pdf |}} \\ [[https://youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP|Videos]] | | 11 | 26. 4. 2021 | VV | Planning IV| Sampling-based planning III, physical simulation, data structures | **[[https://bbb04.felk.cvut.cz//playback/presentation/2.0/playback.html?meetingId=1140c6977fcb902a22e45b17b5cf157e88014557-1619423101131|lecture_10_recording]]** \\ {{ :courses:aro:lectures:planning-sampling3.pdf |}} \\ [[https://youtube.com/playlist?list=PLPjuFI-_2rxw_SGt4eAtP1QTfrgMC-ZkP|Videos]] | | 12 | 03. 5. 2021 | VH | Applications I | Trajectory generation. |[[http://people.ciirc.cvut.cz/~hlavac/TeachPresEn/55AutonomRobotics/090RobotTrajectoryGenerationEn.pdf | Generating trajectory]]| | 13 | 10. 5. 2021 | VH | Application II | Force compliant robot. Touch in robotics. Manipulation tasks. | [[http://people.ciirc.cvut.cz/~hlavac/TeachPresEn/55AutonomRobotics/140TactileRobotics.pdf|Tactile robotics]], [[http://people.ciirc.cvut.cz/~hlavac/TeachPresEn/55AutonomRobotics/150ForceCompliantRobot.pdf|Force/torque compliant robot]] | | 14 | 17. 5. 2021 | VH | Applications III | Grasping and grippers. Societal aspects of robotics. Use case: Autonomous driving, EU project UP-Drive. | [[http://people.ciirc.cvut.cz/~hlavac/TeachPresEn/55AutonomRobotics/|Societal aspects of robotics]] | */