Technische Universität München Robotics and Embedded Systems

Praktikum Applied Computer Vision for Robotics SS 2013

Organizer Dipl.-Inf. Philipp Heise, Dipl.-Inf. Brian Jensen, Dipl.-Inf. Sebastian Klose
Module IN2106
Type Masterpraktikum
Semester SS 2013
ECTS 10.0
Time & Location Wednesdays 14:00 - 15:30 in 02.09.023
Starting on 17.04.2013
Preliminary Talk / Vorbesprechung Monday, 28.01.2013 at 11:00 in room 03.07.023 00.12.019
Certificate successful completion of all exercises
Registration By email to one of the organizers. Confirmation via TUMonline Registration Closed

Course Materials

Date Due Topics Slides Assignment Sheet
17.4.2013 8.5.2013 ROS familiarization and Harris corner detection
pdf pdf
08.05.13 22.05.13 Feature Descriptors and Matching: MOPS, BRIEF and ORB, ROC Challenge
pdf pdf
22.05.13 05.06.13 Stereo Visual Odometry
pdf pdf
05.06.13 19.06.13 Dense Stereo
- pdf
19.06.13   Start of Project Phase - pdf

Final Projects

Team Project Proposal Final
A-Team Stereo SLAM
pdf pdf
Computer Visionaries Robust RGBD visual odometry using a particle filter
pdf -
Global Maximum Systematic evaluation of binary feature descriptors
pdf pdf
Grotteneumel Sequence SLAM for place recognition
pdf pdf
Wurzel Robotino - the follower
pdf pdf

ROC Challenge Results

Challenge_AUC.png Challenge_PPV.png

Team Bikes Boat Graffiti
A Team

Total AUC: 0.454
Total PPV: 0.308
A Team bikes
AUC: 0.544, PPV: 0.382
A Team boat
AUC: 0.401, PPV: 0.126761
A Team graffiti
0.424, PPV: 0.298
Computer Visionaries

Total AUC: 0.830
Total PPV: 0.197 
Computer Visionaries bikes
AUC: 0.933, PPV: 0.436
Computer Visionaries boat
AUC: 0.863, PPV: 0.098
Computer Visionaries graffiti
AUC: 0.752, PPV: 0.075
Global Maximum

Total AUC: 0.691
Total PPV: 0.749 
Global Maximum bikes
AUC: 0.784, PPV: 0.662
Global Maximum boat
AUC: 0.621, PPV: 0.842
Global Maximum graffiti
AUC: 0.669, PPV: 0.742

Total AUC: 0.747
Total PPV: 0.503 
Grotteneumel bikes
AUC: 0.644, PPV: 0.397
Grotteneumel boat
AUC: 0.774, PPV: 0.708
Grotteneumel graffiti
AUC: 0.823, PPV: 0.534

Total AUC: 0.899
Total PPV: 0.207
Wurzel bikes
AUC: 0.846, PPV: 0.287
Wurzel boat
AUC: 0.928, PPV: 0.193
Wurzel graffiti
AUC: 0.922, PPV: 0.140


This lab course will cover various interesting topics of Computer Vision useful for Robotic applications. The participants will start by implementing some fundamental computer vision algorithms. These basic components will be iteratively expanded as the course progresses resulting in the creation of a full featured visual processing pipeline that in turn can be used to solve complex robotic tasks, in particular SLAM. Participants will then select a specific project from a range of final project topics to further expand their skills and knowledge in desired area of computer vision as the completion of this course.

Selection of possibly covered Topics

General Information

External Collaborators