课程信息
4.4
416 个评分
107 个审阅
专项课程

第 4 门课程(共 6 门)

100% 在线

100% 在线

立即开始,按照自己的计划学习。
可灵活调整截止日期

可灵活调整截止日期

根据您的日程表重置截止日期。
中级

中级

完成时间(小时)

完成时间大约为29 小时

建议:4 weeks of study, 3-5 hours/week...
可选语言

英语(English)

字幕:英语(English)

您将获得的技能

Computer VisionEstimationRandom Sample Consensus (Ransac)Geometry
专项课程

第 4 门课程(共 6 门)

100% 在线

100% 在线

立即开始,按照自己的计划学习。
可灵活调整截止日期

可灵活调整截止日期

根据您的日程表重置截止日期。
中级

中级

完成时间(小时)

完成时间大约为29 小时

建议:4 weeks of study, 3-5 hours/week...
可选语言

英语(English)

字幕:英语(English)

教学大纲 - 您将从这门课程中学到什么

1
完成时间(小时)
完成时间为 7 小时

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....
Reading
15 个视频 (总计 180 分钟), 1 个阅读材料, 9 个测验
Video15 个视频
Introduction10分钟
Camera Modeling10分钟
Single View Geometry14分钟
More on Perspective Projection8分钟
Glimpse on Vanishing Points10分钟
Perspective Projection I14分钟
Perspective Projection II14分钟
Point-Line Duality8分钟
Rotations and Translations18分钟
Pinhole Camera Model10分钟
Focal Length and Dolly Zoom Effect8分钟
Intrinsic Camera Parameter13分钟
3D World to First Person Transformation13分钟
How to Compute Intrinsics from Vanishing Points12分钟
Camera Calibration11分钟
Reading1 个阅读材料
Setting up MATLAB10分钟
Quiz8 个练习
Introduction14分钟
Vanishing Points10分钟
Perspective Projection10分钟
Rotations and Translations14分钟
Dolly Zoom4分钟
Feeling of Camera Motion6分钟
How to Compute Intrinsics from Vanishing Points4分钟
Camera Calibration6分钟
2
完成时间(小时)
完成时间为 5 小时

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....
Reading
5 个视频 (总计 69 分钟), 5 个测验
Video5 个视频
Compute Projective Transformations13分钟
Projective Transformations and Vanishing Points6分钟
Cross Ratios and Single View Metrology13分钟
Two View Soccer Metrology11分钟
Quiz4 个练习
Homogeneous Coordinates10分钟
Projective Transformations8分钟
Vanishing Points8分钟
Cross Ratios and Single View Metrology8分钟
3
完成时间(小时)
完成时间为 6 小时

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....
Reading
8 个视频 (总计 126 分钟), 6 个测验
Video8 个视频
Singular Value Decomposition30分钟
RANSAC: Random Sample Consensus I13分钟
Where am I? Part 116分钟
Where am I? Part 213分钟
Pose from 3D Point Correspondences: The Procrustes Problem9分钟
Pose from Projective Transformations8分钟
Pose from Point Correspondences P3P10分钟
Quiz5 个练习
Visual Features12分钟
Singular Value Decomposition16分钟
RANSAC6分钟
3D-3D Pose2分钟
Pose Estimation8分钟
4
完成时间(小时)
完成时间为 8 小时

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....
Reading
14 个视频 (总计 221 分钟), 5 个测验
Video14 个视频
Epipolar Geometry II14分钟
Epipolar Geometry III24分钟
RANSAC: Random Sample Consensus II6分钟
Nonlinear Least Squares I3分钟
Nonlinear Least Squares II6分钟
Nonlinear Least Squares III13分钟
Optical Flow: 2D Point Correspondences19分钟
3D Velocities from Optical Flow16分钟
3D Motion and Structure from Multiple Views18分钟
Visual Odometry19分钟
Bundle Adjustment I17分钟
Bundle Adjustment II18分钟
Bundle Adjustment III17分钟
Quiz4 个练习
Epipolar Geometry24分钟
Nonlinear Least Squares12分钟
3D Velocities from Optical Flow6分钟
Bundle Adjustment10分钟
4.4
107 个审阅Chevron Right
职业方向

43%

完成这些课程后已开始新的职业生涯
工作福利

36%

通过此课程获得实实在在的工作福利
职业晋升

10%

加薪或升职

热门审阅

创建者 SKApr 1st 2018

Outstanding Course! I could always count on Prof.Jianbo to crunch some of the most complex and confusing parts of the course into a much easier understandable language.

创建者 LRJan 1st 2019

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.

讲师

Avatar

Kostas Daniilidis

Professor of Computer and Information Science
School of Engineering and Applied Science
Avatar

Jianbo Shi

Professor of Computer and Information Science
School of Engineering and Applied Science

关于 宾夕法尼亚大学

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. ...

关于 机器人 专项课程

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....
机器人

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