課程信息
4.4
440 個評分
116 個審閱

第 4 門課程(共 6 門)

100% 在線

立即開始,按照自己的計劃學習。

可靈活調整截止日期

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中級

完成時間大約為29 小時

建議:4 weeks of study, 3-5 hours/week...

英語(English)

字幕:英語(English)

您將獲得的技能

Computer VisionEstimationRandom Sample Consensus (Ransac)Geometry

第 4 門課程(共 6 門)

100% 在線

立即開始,按照自己的計劃學習。

可靈活調整截止日期

根據您的日程表重置截止日期。

中級

完成時間大約為29 小時

建議:4 weeks of study, 3-5 hours/week...

英語(English)

字幕:英語(English)

教學大綱 - 您將從這門課程中學到什麼

1
完成時間為 7 小時

Geometry of Image Formation

Welcome to Robotics: Perception! We will begin this course with a tutorial on the standard camera models used in computer vision. These models allow us to understand, in a geometric fashion, how light from a scene enters a camera and projects onto a 2D image. By defining these models mathematically, we will be able understand exactly how a point in 3D corresponds to a point in the image and how an image will change as we move a camera in a 3D environment. In the later modules, we will be able to use this information to perform complex perception tasks such as reconstructing 3D scenes from video....
15 個視頻 (總計 180 分鐘), 1 個閱讀材料, 9 個測驗
15 個視頻
Introduction10分鐘
Camera Modeling10分鐘
Single View Geometry14分鐘
More on Perspective Projection8分鐘
Glimpse on Vanishing Points10分鐘
Perspective Projection I14分鐘
Perspective Projection II14分鐘
Point-Line Duality8分鐘
Rotations and Translations18分鐘
Pinhole Camera Model10分鐘
Focal Length and Dolly Zoom Effect8分鐘
Intrinsic Camera Parameter13分鐘
3D World to First Person Transformation13分鐘
How to Compute Intrinsics from Vanishing Points12分鐘
Camera Calibration11分鐘
1 個閱讀材料
Setting up MATLAB10分鐘
8 個練習
Introduction14分鐘
Vanishing Points10分鐘
Perspective Projection10分鐘
Rotations and Translations14分鐘
Dolly Zoom4分鐘
Feeling of Camera Motion6分鐘
How to Compute Intrinsics from Vanishing Points4分鐘
Camera Calibration6分鐘
2
完成時間為 5 小時

Projective Transformations

Now that we have a good camera model, we will explore the geometry of perspective projections in depth. We will find that this projection is the cause of the main challenge in perception, as we lose a dimension that we can no longer directly observe. In this module, we will learn about several properties of projective transformations in depth, such as vanishing points, which allow us to infer complex information beyond our basic camera model....
5 個視頻 (總計 69 分鐘), 5 個測驗
5 個視頻
Compute Projective Transformations13分鐘
Projective Transformations and Vanishing Points6分鐘
Cross Ratios and Single View Metrology13分鐘
Two View Soccer Metrology11分鐘
4 個練習
Homogeneous Coordinates10分鐘
Projective Transformations8分鐘
Vanishing Points8分鐘
Cross Ratios and Single View Metrology8分鐘
3
完成時間為 6 小時

Pose Estimation

In this module we will be learning about feature extraction and pose estimation from two images. We will learn how to find the most salient parts of an image and track them across multiple frames (i.e. in a video sequence). We will then learn how to use features to find the position of the camera with respect to another reference frame on a plane using Homographies. We will also learn about how to make these techniques more robust, using least squares to hand noisy feature points or RANSAC to remove completely erroneous feature points....
8 個視頻 (總計 126 分鐘), 6 個測驗
8 個視頻
Singular Value Decomposition30分鐘
RANSAC: Random Sample Consensus I13分鐘
Where am I? Part 116分鐘
Where am I? Part 213分鐘
Pose from 3D Point Correspondences: The Procrustes Problem9分鐘
Pose from Projective Transformations8分鐘
Pose from Point Correspondences P3P10分鐘
5 個練習
Visual Features12分鐘
Singular Value Decomposition16分鐘
RANSAC6分鐘
3D-3D Pose2分鐘
Pose Estimation8分鐘
4
完成時間為 8 小時

Multi-View Geometry

Now we will use what we learned from two view geometry and extend it to sequences of images, such as a video. We will explain the fundamental geometric constraints between point features in images, the Epipolar constraint, and learn how to use it to extract the relative poses between multiple frames. We will finish by combining all this information together for the application of Structure from Motion, where we will compute the trajectory of a camera and a map throughout many frames and refine our estimates using Bundle adjustment....
14 個視頻 (總計 221 分鐘), 5 個測驗
14 個視頻
Epipolar Geometry II14分鐘
Epipolar Geometry III24分鐘
RANSAC: Random Sample Consensus II6分鐘
Nonlinear Least Squares I3分鐘
Nonlinear Least Squares II6分鐘
Nonlinear Least Squares III13分鐘
Optical Flow: 2D Point Correspondences19分鐘
3D Velocities from Optical Flow16分鐘
3D Motion and Structure from Multiple Views18分鐘
Visual Odometry19分鐘
Bundle Adjustment I17分鐘
Bundle Adjustment II18分鐘
Bundle Adjustment III17分鐘
4 個練習
Epipolar Geometry24分鐘
Nonlinear Least Squares12分鐘
3D Velocities from Optical Flow6分鐘
Bundle Adjustment10分鐘
4.4
116 個審閱Chevron Right

43%

完成這些課程後已開始新的職業生涯

36%

通過此課程獲得實實在在的工作福利

10%

加薪或升職

熱門審閱

創建者 SKApr 1st 2018

Outstanding Course! I could always count on Prof.Jianbo to crunch some of the most complex and confusing parts of the course into a much easier understandable language.

創建者 LRJan 1st 2019

This is quite challenging course. So far, this is the course with the largest amount of material, I wish the class will be split into two courses.

講師

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Kostas Daniilidis

Professor of Computer and Information Science
School of Engineering and Applied Science
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Jianbo Shi

Professor of Computer and Information Science
School of Engineering and Applied Science

關於 宾夕法尼亚大学

The University of Pennsylvania (commonly referred to as Penn) is a private university, located in Philadelphia, Pennsylvania, United States. A member of the Ivy League, Penn is the fourth-oldest institution of higher education in the United States, and considers itself to be the first university in the United States with both undergraduate and graduate studies. ...

關於 机器人 專項課程

The Introduction to Robotics Specialization introduces you to the concepts of robot flight and movement, how robots perceive their environment, and how they adjust their movements to avoid obstacles, navigate difficult terrains and accomplish complex tasks such as construction and disaster recovery. You will be exposed to real world examples of how robots have been applied in disaster situations, how they have made advances in human health care and what their future capabilities will be. The courses build towards a capstone in which you will learn how to program a robot to perform a variety of movements such as flying and grasping objects....
机器人

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