Download all 2020 exercises for all our courses: ZIP-Archive.
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
Submission deadline: 26.04.2020
Tutorial + Q&A Session via Zoom
Date: 17.04.2020 at 9:00 am
Zoom link: see eCampus
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
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
Submission deadline: 10.05.2020
Tutorial + Q&A Session via Zoom
Date: 30.04.2020
Zoom link: see eCampus
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
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
Submission deadline: 24.05.2020
Tutorial + Q&A Session via Zoom
Date: 15.05.2020 at 9:00 am
Zoom link: see eCampus
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
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
K05 – From Images to Point Clouds (SfM Application)
Slides: PDF
21.06.2020 – Part 3 (Holst starts)
H06 – Uncertainty of Point Clouds I
Slides: PDF
H07 – Uncertainty of Point Clouds II
Slides: PDF
H08 – Deformation Analysis with Point Clouds
Slides: PDF