How can robots perceive the world and their own movements so that they accomplish navigation and manipulation tasks? In this module, we will study how images and videos acquired by cameras mounted on robots are transformed into representations like features and optical flow. Such 2D representations allow us then to extract 3D information about where the camera is and in which direction the robot moves. You will come to understand how grasping objects is facilitated by the computation of 3D posing of objects and navigation can be accomplished by visual odometry and landmark-based localization.
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ロボット工学専門講座ペンシルベニア大学（University of Pennsylvania）このコースについて
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次における6の4コース
中級レベル
約33時間で修了
英語
字幕：フランス語, ポルトガル語（ヨーロッパ）, ロシア語, 英語, スペイン語
習得するスキル
- Computer Vision
- Estimation
- Random Sample Consensus (Ransac)
- Geometry
柔軟性のある期限
スケジュールに従って期限をリセットします。
共有できる証明書
修了時に証明書を取得
100%オンライン
自分のスケジュールですぐに学習を始めてください。
次における6の4コース
中級レベル
約33時間で修了
英語
字幕：フランス語, ポルトガル語（ヨーロッパ）, ロシア語, 英語, スペイン語
提供：
ペンシルベニア大学（University of Pennsylvania）
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.
シラバス - 本コースの学習内容
10時間で修了
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.
10時間で修了
15件のビデオ （合計180分）, 1 学習用教材, 9 個のテスト
6時間で修了
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.
6時間で修了
5件のビデオ （合計69分）
8時間で修了
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時間で修了
8件のビデオ （合計126分）
9時間で修了
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.
9時間で修了
14件のビデオ （合計221分）
レビュー
- 5 stars59.80%
- 4 stars25.03%
- 3 stars7.65%
- 2 stars4.14%
- 1 star3.34%
ROBOTICS: PERCEPTION からの人気レビュー
SVにより2019年10月16日
It is hard course, thoroughly enjoyed it. Lessons on how to effectively use vanishing points was very useful.
DYにより2020年3月27日
The concepts were explained very well and clearly. The last week content seemed a bit complicated to follow, but it was not unsolvable. I enjoyed the course. Thank you!
LRにより2018年12月31日
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.
JSにより2018年1月5日
Extremely fast-paced course that gives a great overview of Perception but leaves a lot of things unexplained or without proofs.
ロボット工学専門講座について
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.
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