Description
This course will deal with the issues of constructing representations of
two and three dimensional space with emphasis on the mobile robotics context.
Some broader aspects of spatial representation related
to computational vision and graphics and some related issues
in mobile robotics will also be examined.
The emphasis will be on algorithms and techniques for representing space, as
opposed to implementation issues.
Topics include
Reference material will consist primarily of papers from the research literature. Students are expected to participate in class discussions and to present their summaries and commentary on several papers.
Reference material
Suggest text: Computational Principles of Mobile Robotics,
by Dudek and Jenkin. Cambridge University Press, 1999 (in press).
(Available in class.)
Selected readings from the research literature, to be distributed
in class.
Supplementary text: Autonomous Robot Vehicles, by Cox and Wilfong.
Springer-Verlag.
Evaluation
The details of the course evaluation scheme and format of some classes will depend of the enrollment and hence will not be fixed until after the first lecture (based on attendance and student mix in the first lecture). Evaluation will be based on three types of activity: class participation, homework, and an in-class formal presentation.
The tentative scheme is as follows. Homework will involve (1) an short literature survey in an approved sub-topic, (2) a more extensive assignment on a selected sub-topic, (3) a final project (typically related to the literature survey), (4) an in-class presentation.
The final project will consist of summary of, and suggested extension to, a selected research problem accompanied by a term-paper and an in-class presentation. In most cases it may involve implementation of an algorithm.
Background
A good knowledge on linear algebra and geometry is essential. Some background in graphics, artificial intelligence, computational vision or complexity theory would also be useful but is not mandatory.
