Mobile Sensing and Robotics 2 – Stachniss & Klingbeil


01 – Welcome to the Course

Slides: PDF
All course slides: msr2-2020-slides-pdf.zip
If you are a lecturer and want to have the powerpoint source slides for your own course, please send me an email.

Week 1 – 06.04.2020-10.04.2020


02 – Introduction to SLAM

Slides: PDF


03 – Point Cloud Alignment using ICP

Slides: PDF


04 – An Informal Introduction to Least Squares

Slides: PDF

Week 2 – 13.04.2020-17.04.2020


05 – Graph-based SLAM using Pose Graphs

Slides: PDF

Homework assignment 1

Topic: Graph-Based SLAM
Submission deadline: 26.04.2020

Tutorial + Q&A Session via Zoom

Date: 17.04.2020 at 9:00 am
Zoom link: see eCampus

06 – Hierarchical Pose Graphs for SLAM

Slides: PDF

Week 3 – 20.04.2020-24.04.2020


07 – Graph-Based SLAM using Landmarks

Slides: PDF

08 – Robust Optimiziation for Graph-Based SLAM

Slides: PDF

Tutorial + Q&A Session via Zoom

Date: 24.04.2020 at 9:00 am
Zoom link: see eCampus

Week 4 – 27.04.2020-01.05.2020


09 – Visual Features: Keypoints Detection

Slides: PDF


10 – Visual Features: Feature Descriptor

Slides: PDF


11 – RANSAC

Slides: PDF

Homework assignment 2

Topic: Dealing with Outliers
Submission deadline: 10.05.2020

Tutorial + Q&A Session via Zoom

Date: 30.04.2020
Zoom link: see eCampus

Week 5 – 04.05.2020-08.05.2020


12 – Camera Parameters – Extrinsics and Intrinsics

Slides: PDF


13 – Direct Linear Transform: Camera Calibration and Localization

Slides: PDF


14 – Camera Calibration: Zhang’s Method

Slides: PDF

Tutorial + Q&A Session via Zoom

Date: 08.05.2020 at 9:00 am
Zoom link: see eCampus

Week 6 – 11.05.2020-15.05.2020


15 – Projective 3-Point Algorithm using Grunert’s Method

Slides: PDF


16 – Relative Orientation, Fundamental and Essential Matrix

Slides: PDF

Homework assignment 3

Topic: Relative Camera Orientation
Submission deadline: 24.05.2020

Tutorial + Q&A Session via Zoom

Date: 15.05.2020 at 9:00 am
Zoom link: see eCampus

Week 7 – 18.05.2020-22.05.2020


17 – Epipolar Geometry Basics

Slides: PDF


18 – Direct Solution for Fundamental and Essential Matrix

Slides: PDF

Tutorial + Q&A Session via Zoom

Date: 22.05.2020 at 9:00 am
Zoom link: see eCampus

Week 8 – 25.05.2020 – Part 2 (Klingbeil starts)


K01 – Mobile Laser Scanning

Slides: PDF


K02 – Trajectory Estimation

Slides: PDF


K03 – System Calibration

Slides: PDF


K04 – Sensor Synchronization

Slides: PDF