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Week 1
Welcome to the Mobile Sensing and Robotics 2 Course taught in 2021
Welcome to the Mobile Sensing and Robotics 2/Sensors and State Estimation 2 Course
Cyrill Stachniss, Spring 2021
SLAM – 5 Minutes with Cyrill
SLAM explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020
Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records
Introduction to SLAM (Cyrill Stachniss)
Introduction to the Simultaneous Localization and Mapping Problem (SLAM)
Cyrill Stachniss, Spring 2020
Week 2
Least Squares – 5 Minutes with Cyrill
Least squares explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2021
Credits:
Video by Cyrill Stachniss
Special thanks to Olga Vysotska and Igor Bogoslavskyi
Image courtesy by Carl Friedrich Gauss, Justin Cowart (ceres), and Nived Chebrolu (kernels)
Intro music by The Brothers Records
Least Squares – An Informal Introduction (Cyrill Stachniss)
An Informal Introduction to Least Squares
Cyrill Stachniss, Spring 2020
Iterative Closest Point (ICP) – 5 Minutes with Cyrill
Iterative Closest Point (ICP) explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020
Credits:
Video by Cyrill Stachniss
Images by Igor Bogoslakvskyi
Thanks to Igor Bogoslakvskyi and Olga Vysotska
Intro music by The Brothers Records
ICP & Point Cloud Registration – Part 1: Known Data Association & SVD (Cyrill Stachniss, 2021)
Part 1 of 3: Point cloud registration with known data associations using SVD, including the full derivation of the solution, which forms the basis for the Iterative Closest Point (ICP) algorithm.
Cyrill Stachniss, Spring 2021
Week 3
ICP & Point Cloud Registration – Part 2: Unknown Data Association (Cyrill Stachniss, 2021)
Part 2 of 3: Point cloud registration with unknown data associations using the Iterative Closest Point (ICP) algorithm.
Cyrill Stachniss, Spring 2021
ICP & Point Cloud Registration – Part 3: Non-linear Least Squares (Cyrill Stachniss, 2021)
Part 3 of 3: Point cloud registration with unknown data associations using a robust, non-linear least squares approach based on Gauss Newton).
Cyrill Stachniss, Spring 2021
Week 4
Graph-based SLAM using Pose Graphs (Cyrill Stachniss)
Graph-based SLAM using Pose Graphs
Cyrill Stachniss, Spring 2020
Week 5
Hierarchical Pose Graphs for SLAM (Cyrill Stachniss)
Hierarchical Pose Graphs for SLAM
Cyrill Stachniss, Spring 2020
Graph-Based SLAM with Landmarks (Cyrill Stachniss)
Graph-Based SLAM with Landmarks
Cyrill Stachniss, Spring 2020
Bundle Adjustment – 5 Minutes with Cyrill
Bundle Adjustment explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020
Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records
Week 6
Robust Least Squares for Graph-Based SLAM (Cyrill Stachniss)
Robust Least Squares for Graph-Based SLAM
Cyrill Stachniss, Spring 2020
Week 7
What Cameras Measure – 5 Minutes with Cyrill
What do cameras actually measure explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2021
Credits:
Video by Cyrill Stachniss
Special thanks to Olga Vysotska and Igor Bogoslavskyi
Partial image courtesy Brunox983@pixabay
Intro music by The Brothers Records
Visual Feature Part 1: Computing Keypoints (Cyrill Stachniss)
Visual Feature Part 1: Computing Keypoints
Cyrill Stachniss, Spring 2020
Week 8
SIFT – 5 Minutes with Cyrill
SIFT features explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020
Credits:
Video by Cyrill Stachniss
Partial image courtesy by Gil Levi and David Lowe
Thanks to Igor Bogoslavskyi and Olga Vysotska
Intro music by The Brothers Records
Binary Features – 5 Minutes with Cyrill
Binary features explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020
Credits:
Video by Cyrill Stachniss
Thanks to Olga Vysotska and Igor Bogoslakvskyi
Intro music by The Brothers Records
Visual Features Part 2: Features Descriptors (Cyrill Stachniss)
Visual Features Part 2: Features Descriptors
Cyrill Stachniss, Spring 2020
Week 9
RANSAC – 5 Minutes with Cyrill
RANSAC – Random Sample Consensus explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020
Credits:
Video by Cyrill Stachniss
Thanks for Olga Vysotska and Igor Bogoslavskyi.
Intro music by The Brothers Records
RANSAC – Random Sample Consensus (Cyrill Stachniss)
RANSAC – Random Sample Consensus
Cyrill Stachniss, Spring 2020
Week 10
Camera Intrinsics and Extrinsics – 5 Minutes with Cyrill
Intrinsic and extrinsic parameters of a camera explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2021
Credits:
Video by Cyrill Stachniss
Special thanks to Olga Vysotska and Igor Bogoslavskyi
Pinhole camera model image courtesy Anton@Wikipedia
Intro music by The Brothers Records
Camera Parameters – Extrinsics and Intrinsics (Cyrill Stachniss)
Camera Parameters – Extrinsic and Intrinsic Parameters
Cyrill Stachniss, Spring 2020
Week 11
Mapping the 3D World to an Image – 5 Minutes with Cyrill
Mapping 3D points to 2D pixel locations explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2021
Credits:
Video by Cyrill Stachniss
Special thanks to Olga Vysotska and Igor Bogoslavskyi
Pinhole camera model image courtesy Anton@Wikipedia
Intro music by The Brothers Records
Direct Linear Transform for Camera Calibration and Localization (Cyrill Stachniss)
Direct Linear Transform – Joint Camera Calibration and Localization
Cyrill Stachniss, Spring 2020
Camera Calibration using Zhang’s Method (Cyrill Stachniss)
Camera Calibration using Zhang’s Method
Cyrill Stachniss, Spring 2020
Week 12
Projective 3-Point Algorithm using Grunert’s Method (Cyrill Stachniss)
Projective 3-Point Algorithm, also called Spatial Resectioning, using Grunert’s Method of 1841
Cyrill Stachniss, Spring 2020
Week 13
Fundamental and Essential Matrix – 5 Minutes with Cyrill
Fundamental and essential matrix explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020
Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records
Relative Orientation, Fundamental and Essential Matrix (Cyrill Stachniss)
Relative Orientation of the Image Pair, Fundamental and Essential Matrix
Cyrill Stachniss, Spring 2020
Epipolar Geometry Basics (Cyrill Stachniss)
Epipolar Geometry Basics
Cyrill Stachniss, Spring 202
Week 14
8 Point Algorithm – 5 Minutes with Cyrill
8 point algorithm explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2021
Credits:
Video by Cyrill Stachniss
Special thanks to Olga Vysotska and Igor Bogoslavskyi
Camera image courtesy funkyduck77@Wikipedia
Intro music by The Brothers Records
Direct Solution for Estimating the Fundamental and Essential Matrix (Cyrill Stachniss)
Direct Solution for Estimating the Fundamental and Essential Matrix from Corresponding Points (“8-Point Algorithm”)
Cyrill Stachniss, Spring 2020