Technische Universität München Robotics and Embedded Systems


Organizer Dipl.-Inf. Philipp Heise, Dipl.-Inf. Brian Jensen
Module IN2106
Type Masterpraktikum
Semester WS 2013/2014
ECTS 10.0
Time & Location Wednesdays 12:30 - 14:00 in 03.07.023
Starting on 16.10.2013
Preliminary Talk / Vorbesprechung Wednesday, 10.07.2013 at 15:00 in room 02.09.023
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
16.10.2013 30.10.2013 ROS familiarization and Harris corner detection
pdf pdf
30.10.2013 13.11.2013 Feature Descriptors and Matching: MOPS, BRIEF and ORB, ROC Challenge
pdf pdf
20.11.2013 4.12.2013 Stereo Visual Odometry
pdf pdf
4.12.2013 18.12.2013 Dense Stereo
- pdf
18.12.2013 - Final Projects pdf -

Final Projects

Team Project Proposal Final
fROSt Five Shades of Grey
pdf pdf
Pixel Keyframe based SLAM
pdf pdf
SWAG Monocular Visual Odometry
pdf pdf

ROC Challenge Results

Team Liberty Dataset Notre Dame Dataset
Overall Liberty_Total.png Notre_Dame_Total.png
fROSt fROSt_Liberty.png fROSt_Notre_Dame.png
Pixel Pixel_Liberty.png Pixel_Notre_Dame.png
SWAG SWAG_Liberty.png SWAG_Notre_Dame.png


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