# Online Training – Robotics & Photogrammetric CV

Online Lectures: Basics for Robotics & Photogrammetric Computer Vision (Cyrill Stachniss, 2020)

#### Online Lectures: Basics for Robotics & Photogrammetric Computer Vision (Cyrill Stachniss, 2020)

Online Lectures covering the Basics of Robotics & Photogrammetric Computer Vision
Cyrill Stachniss, 2020

# Essentials (before you start)

Online Training: Basics Block - Welcome (Cyrill Stachniss, 2020)

#### Online Training: Basics Block – Welcome (Cyrill Stachniss, 2020)

A short welcome to the Basics Block of the Online Training
Cyrill Stachniss, Fall 2020

Suggested Linear Algebra Courses:
1. Essence of linear algebra by 3Blue1Brown:
2. Linear Algebra from MIT Open Courseware:

Probability Primer for Probabilistic Robotics (Cyrill Stachniss, 2020)

#### Probability Primer for Probabilistic Robotics (Cyrill Stachniss, 2020)

Probability Primer for Probabilistic Robotics
Cyrill Stachniss, Summer 2020

3D Coordinates and Representations of Rotations (Cyrill Stachniss, 2020)

#### 3D Coordinates and Representations of Rotations (Cyrill Stachniss, 2020)

Lectures on 3D coordinates and especially the different representations of rotations in the 3D world
Cyrill Stachniss, Summer 2020

Quaternions and 3d rotation, explained interactively

#### Quaternions and 3d rotation, explained interactively

Go experience the explorable videos: https://eater.net/quaternions
Brought to you by you: http://3b1b.co/quaternion-explorable-thanks

Previous video on Quaternions:
https://youtu.be/d4EgbgTm0Bg

Nice explanation of Gimbal Lock:
https://youtu.be/zc8b2Jo7mno

Great videos comparing Euler angles and quaternions, from the perspective of an animator:
https://youtu.be/syQnn_xuB8U
https://youtu.be/4mXL751ko0w

Music by Vincent Rubinetti:
https://vincerubinetti.bandcamp.com/album/the-music-of-3blue1brown

Homogeneous Coordinates - 5 Minutes with Cyrill

#### Homogeneous Coordinates – 5 Minutes with Cyrill

Homogeneous coordinates explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Homogeneous Coordinates (Cyrill Stachniss, 2020)

#### Homogeneous Coordinates (Cyrill Stachniss, 2020)

Lecture on Homogeneous Coordinates
Cyrill Stachniss, Summer 2020

Least Squares - An Informal Introduction (Cyrill Stachniss, 2020)

#### Least Squares – An Informal Introduction (Cyrill Stachniss, 2020)

An Informal Introduction to Least Squares
Cyrill Stachniss, Spring 2020

Online Training: Basics Block - You Did It! (Cyrill Stachniss, 2020)

#### Online Training: Basics Block – You Did It! (Cyrill Stachniss, 2020)

Online Training: Basics Block – You Did It!
Cyrill Stachniss, Fall 2020

# Robotics Block

Online Lecture: Mobile Robotics Block - Course Introduction (Cyrill Stachniss, 2020)

#### Online Lecture: Mobile Robotics Block – Course Introduction (Cyrill Stachniss, 2020)

Mobile Robotics Block – Course Introduction
Cyrill Stachniss, 2020

Bayes Filter (Cyrill Stachniss, 2020)

#### Bayes Filter (Cyrill Stachniss, 2020)

Bayes Filter
Cyrill Stachniss, 2020

Occupancy Grid - 5 Minutes with Cyrill

#### Occupancy Grid – 5 Minutes with Cyrill

Occupancy grid maps explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

Occupancy Grid Maps (Cyrill Stachniss, 2020)

#### Occupancy Grid Maps (Cyrill Stachniss, 2020)

Occupancy Grid Maps
Mobile Sensing and Robotics Course
Cyrill Stachniss and Nived Chebrolu, 2020

Robot Locomotion (Nived Chebrolu, 2020)

#### Robot Locomotion (Nived Chebrolu, 2020)

Robot Locomotion
Nived Chebrolu, Fall 2020

Motion Models (Nived Chebrolu, 2020)

#### Motion Models (Nived Chebrolu, 2020)

Probabilistic Motion Models for Mobile Robotis
Nived Chebrolu, Fall 2020

Observation Models (Cyrill Stachniss, 2020)

#### Observation Models (Cyrill Stachniss, 2020)

Basic Observation Models for Range Sensors
Cyrill Stachniss, 2020

Kalman Filter - 5 Minutes with Cyrill

#### Kalman Filter – 5 Minutes with Cyrill

The Kalman filter explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

Kalman Filter & EKF (Cyrill Stachniss, 2020)

#### Kalman Filter & EKF (Cyrill Stachniss, 2020)

Kalman Filter and Extended Kalman Filter (EKF)
Cyrill Stachniss, 2020

Localization - 5 Minutes with Cyrill

#### Localization – 5 Minutes with Cyrill

Localization explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

EKF Localization (Nived Chebrolu, 2020)

#### EKF Localization (Nived Chebrolu, 2020)

EKF Localization
Nived Chebrolu, Fall 2020

Particle Filter - 5 Minutes with Cyrill

#### Particle Filter – 5 Minutes with Cyrill

The particle filter explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

Particle Filter and Monte Carlo Localization (Cyrill Stachniss, 2020)

#### Particle Filter and Monte Carlo Localization (Cyrill Stachniss, 2020)

Particle Filter and Monte Carlo Localization (MCL)
Cyrill Stachniss, 2020

Robot Control (Nived Chebrolu, 2020)

#### Robot Control (Nived Chebrolu, 2020)

Robot Control
Nived Chebrolu, Fall 2020

Robot Motion Planning using A* (Cyrill Stachniss, 2020)

#### Robot Motion Planning using A* (Cyrill Stachniss, 2020)

Robot Motion Planning using A*
Cyrill Stachniss, Fall 2020

Markov Decision Processes for Planning under Uncertainty (Cyrill Stachniss, 2020)

#### Markov Decision Processes for Planning under Uncertainty (Cyrill Stachniss, 2020)

Markov Decision Processes (in short MDPs) for Planning under Uncertainty
Cyrill Stachniss, Fall 2020

Iterative Closest Point (ICP) - 5 Minutes with Cyrill

#### Iterative Closest Point (ICP) – 5 Minutes with Cyrill

Iterative Closest Point (ICP) explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

https://nbviewer.jupyter.org/github/niosus/notebooks/blob/master/icp.ipynb

Credits:
Video by Cyrill Stachniss
Images by Igor Bogoslakvskyi
Thanks to Igor Bogoslakvskyi and Olga Vysotska
Intro music by The Brothers Records

Point Cloud Alignment using ICP (Cyrill Stachniss, 2020; updated)

#### Point Cloud Alignment using ICP (Cyrill Stachniss, 2020; updated)

Point Cloud Alignment using the Iterative Closest Point Algorithm (ICP)
[Updated version due to audio failure] Cyrill Stachniss, Spring 2020

RANSAC - 5 Minutes with Cyrill

#### RANSAC – 5 Minutes with Cyrill

RANSAC – Random Sample Consensus explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Thanks for Olga Vysotska and Igor Bogoslavskyi for their valuable feedback on the different iteration if the video.
Intro music by The Brothers Records

RANSAC - Random Sample Consensus (Cyrill Stachniss, 2020)

#### RANSAC – Random Sample Consensus (Cyrill Stachniss, 2020)

RANSAC – Random Sample Consensus
Cyrill Stachniss, Spring 2020

SLAM - 5 Minutes with Cyrill

#### SLAM – 5 Minutes with Cyrill

SLAM explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

There is also a set of more detailed lectures on SLAM available:

Or my 2013/14 course on SLAM:

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

Introduction to SLAM (Cyrill Stachniss, 2020)

#### Introduction to SLAM (Cyrill Stachniss, 2020)

Introduction to the Simultaneous Localization and Mapping Problem (SLAM)
Cyrill Stachniss, Spring 2020

Graph-based SLAM using Pose Graphs (Cyrill Stachniss, 2020)

#### Graph-based SLAM using Pose Graphs (Cyrill Stachniss, 2020)

Graph-based SLAM using Pose Graphs
Cyrill Stachniss, Spring 2020

Factor Graph - 5 Minutes with Cyrill

#### Factor Graph – 5 Minutes with Cyrill

Factor graphs explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Thanks to Frank Dellaert
Intro music by The Brothers Records

SIFT - 5 Minutes with Cyrill

#### SIFT – 5 Minutes with Cyrill

SIFT features explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Partial image courtesy by Gil Levi and David Lowe
Thanks to Igor Bogoslavskyi and Olga Vysotska
Intro music by The Brothers Records

Graph-Based SLAM with Landmarks (Cyrill Stachniss, 2020)

#### Graph-Based SLAM with Landmarks (Cyrill Stachniss, 2020)

Graph-Based SLAM with Landmarks
Cyrill Stachniss, Spring 2020

Robust Least Squares for Graph-Based SLAM (Cyrill Stachniss, 2020)

#### Robust Least Squares for Graph-Based SLAM (Cyrill Stachniss, 2020)

Robust Least Squares for Graph-Based SLAM
Cyrill Stachniss, Spring 2020

Online Training: Mobile Robotics Block - You Did It! (Cyrill Stachniss, 2020)

# Photogrammatric Computer Vision Block

Online Course: Photogrammetric Computer Vision Block - Course Introduction (Cyrill Stachniss, 2020)

#### Online Course: Photogrammetric Computer Vision Block – Course Introduction (Cyrill Stachniss, 2020)

Photogrammetric Computer Vision Block – Course Introduction
Cyrill Stachniss, 2020

Visual Feature Part 1: Computing Keypoints (Cyrill Stachniss, 2020)

#### Visual Feature Part 1: Computing Keypoints (Cyrill Stachniss, 2020)

Visual Feature Part 1: Computing Keypoints
Cyrill Stachniss, Spring 2020

SIFT - 5 Minutes with Cyrill

#### SIFT – 5 Minutes with Cyrill

SIFT features explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Partial image courtesy by Gil Levi and David Lowe
Thanks to Igor Bogoslavskyi and Olga Vysotska
Intro music by The Brothers Records

Binary Features - 5 Minutes with Cyrill

#### Binary Features – 5 Minutes with Cyrill

Binary features explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Thanks to Olga Vysotska and Igor Bogoslakvskyi
Intro music by The Brothers Records

Visual Features Part 2: Features Descriptors (Cyrill Stachniss, 2020)

#### Visual Features Part 2: Features Descriptors (Cyrill Stachniss, 2020)

Visual Features Part 2: Features Descriptors
Cyrill Stachniss, Spring 2020

RANSAC - 5 Minutes with Cyrill

#### RANSAC – 5 Minutes with Cyrill

RANSAC – Random Sample Consensus explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Thanks for Olga Vysotska and Igor Bogoslavskyi for their valuable feedback on the different iteration if the video.
Intro music by The Brothers Records

RANSAC - Random Sample Consensus (Cyrill Stachniss, 2020)

#### RANSAC – Random Sample Consensus (Cyrill Stachniss, 2020)

RANSAC – Random Sample Consensus
Cyrill Stachniss, Spring 2020

Camera Parameters - Extrinsics and Intrinsics (Cyrill Stachniss, 2020)

#### Camera Parameters – Extrinsics and Intrinsics (Cyrill Stachniss, 2020)

Camera Parameters – Extrinsic and Intrinsic Parameters
Cyrill Stachniss, Spring 2020

Direct Linear Transform for Camera Calibration and Localization (Cyrill Stachniss, 2020)

#### Direct Linear Transform for Camera Calibration and Localization (Cyrill Stachniss, 2020)

Direct Linear Transform – Joint Camera Calibration and Localization
Cyrill Stachniss, Spring 2020

Camera Calibration using Zhang's Method (Cyrill Stachniss, 2020)

#### Camera Calibration using Zhang’s Method (Cyrill Stachniss, 2020)

Camera Calibration using Zhang’s Method
Cyrill Stachniss, Spring 2020

Projective 3-Point Algorithm using Grunert's Method (Cyrill Stachniss, 2020)

#### Projective 3-Point Algorithm using Grunert’s Method (Cyrill Stachniss, 2020)

Projective 3-Point Algorithm, also called Spatial Resectioning, using Grunert’s Method of 1841
Cyrill Stachniss, Spring 2020

Fundamental and Essential Matrix - 5 Minutes with Cyrill

#### Fundamental and Essential Matrix – 5 Minutes with Cyrill

Fundamental and essential matrix explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

Relative Orientation, Fundamental and Essential Matrix (Cyrill Stachniss, 2020)

#### Relative Orientation, Fundamental and Essential Matrix (Cyrill Stachniss, 2020)

Relative Orientation of the Image Pair, Fundamental and Essential Matrix
Cyrill Stachniss, Spring 2020

Epipolar Geometry Basics (Cyrill Stachniss, 2020)

#### Epipolar Geometry Basics (Cyrill Stachniss, 2020)

Epipolar Geometry Basics
Cyrill Stachniss, Spring 202

Direct Solution for Estimating the Fundamental and Essential Matrix (Cyrill Stachniss, 2020)

#### Direct Solution for Estimating the Fundamental and Essential Matrix (Cyrill Stachniss, 2020)

Direct Solution for Estimating the Fundamental and Essential Matrix from Corresponding Points (“8-Point Algorithm”)
Cyrill Stachniss, Spring 2020

Triangulation for Image Pairs (Cyrill Stachniss, 2020)

#### Triangulation for Image Pairs (Cyrill Stachniss, 2020)

Triangulation of 3D Points based on Pairs of Camera Images
Cyrill Stachniss, 2020

Absolute Orientation: Similarity Transformations Between Point Sets (Cyrill Stachniss, 2020)

#### Absolute Orientation: Similarity Transformations Between Point Sets (Cyrill Stachniss, 2020)

Absolute Orientation Problem: Derivation of the Computing Similarity Transformations Between Point Sets
Cyrill Stachniss, Fall 2020

Bundle Adjustment - 5 Minutes with Cyrill

#### Bundle Adjustment – 5 Minutes with Cyrill

Bundle Adjustment explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

Cyrill Stachniss, Fall 2020
This is Part 1 on a lecture on Bundle Adjustment, see Part 2 here: http://youtube.com/watch?v=LKDLcKrWOIU

The Numerics of Bundle Adjustment (Cyrill Stachniss, 2020)

#### The Numerics of Bundle Adjustment (Cyrill Stachniss, 2020)

Cyrill Stachniss, Fall 2020
This is Part 2 on a lecture on Bundle Adjustment, see Part 1 here: http://youtube.com/watch?v=sobyKHwgB0Y

SLAM - 5 Minutes with Cyrill

#### SLAM – 5 Minutes with Cyrill

SLAM explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

There is also a set of more detailed lectures on SLAM available:

Or my 2013/14 course on SLAM:

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

Introduction to SLAM from a Photogrammetric Perspective (Cyrill Stachniss, 2020)

#### Introduction to SLAM from a Photogrammetric Perspective (Cyrill Stachniss, 2020)

A Brief Introduction to SLAM from a Photogrammetric Perspective
Cyrill Stachniss, Fall 2020

Orthophoto - 5 Minutes with Cyrill

#### Orthophoto – 5 Minutes with Cyrill

Orthophoto explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

Orthophotos (Cyrill Stachniss, 2020)

#### Orthophotos (Cyrill Stachniss, 2020)

Orthophotos
Cyrill Stachniss, Fall 2020

Online Training: Photogrammetric Computer Vision - You Did It! (Cyrill Stachniss, 2020)