Course Syllabus

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Lecture Time: 9:30am-10:45am | Lecture Location: 101 Transportation Building

 Date  Day  Topic  Machine Problems  Final Project  Additional Resources
 01-21  Wed

 L1: Intro, Logistics, History and Overview [Slide]

 - Waabi's Self Driving Tutorial
 01-26  Mon

 L2: Poses & Transforms [Lecture Video] [Slides]

 - A micro Lie theory for state estimation in robotics
 - State Estimation on Robotics, Sec. 6.1 - Sec.6.3
 - Computer Vision, Sec.2.1.1 - Sec.2.1.3
 01-28  Wed

 L3: Kinematics and Dynamics [Slides]

 - Modern Robotics, Chap. 3 & Chap 13.1
 - Video Lectures by Prof. Georg Schildbach
 02-02  Mon

 L4: LiDAR [Slides]

 - Open3D's Point Cloud Doc
 - PCL's Normal Estimation Doc
 02-04  Wed

 L5: GPS & Motion Sensors [Slides]

 - State Estimation on Robotics, Sec. 6.4.4
 - GISGeography's Triangulation Doc
 02-06  Fri

 Tutorial: ROS and Data Logging [Slides][Recording][Code]

  - ROS2 Tutorial (will mostly be based on this)
 - Data vis tools: RViz / Rerun / Foxgloves 
 02-09  Mon

 L6: Camera [Slides]

  

 - Computer Vision, Sec.2.1.1 - Sec.2.1.4
 - State Estimation on Robotics, Sec. 6.4
 02-11  Wed

 L7: Sensor Calibration [Slides]

[Recording Part 1] [Recording Part 2]

  MP0 Out

 - OpenCV Calibration Tutorial
 - Kalibr Toolbox
 - Camera-LiDAR Calibration
 02-13  Fri

 Tutorial: Numpy & Pytorch (Remote, 9-10am) [Recording]

 - CS231n Tutorial on Python/Numpy
 - Pytorch Tutorial: Official / Unofficial / Older
 02-16  Mon

 No-class: Presidents’ Day
 02-18  Wed

 L8: Localization [Slides]

 - Particle Filter Interactive Visualization
 - Tutorial on Kalman Filter
 02-23  Mon

 L9: SLAM & Odometry [Slides]

  

 - Cadena et. al., "Past, Present, Future of SLAM"
 - Zhang et. al., "Lidar Odometry and Mapping in Real-time"
 - Mur-Artal et. al., "ORB-SLAM: a Versatile and Accurate Monocular SLAM System" 
 02-25  Wed

 L10: Object Detection [Slides]

  

 - Redmon et. al., "You Only Look Once: Unified, Real-Time Object Detection"
 - He et. al., "Mask R-CNN"
 - Zhou et. al., "Objects as Points"
 - Argo et. al., "MAD: Memory-Augmented Detection of 3D Objects"
 02-27  Fri

 Lab: Safety Training (Highbay)

 MP1 Out
 03-02  Mon

 L11: Tracking [Slides]

 MP0 Due

  - Yin et. al., "Center-based 3D Object Detection and Tracking"
 - Zeng et. al. "MOTR: End-to-End Multiple-Object Tracking with TRansformer"
 03-04  Wed

 No-class: ECCV
 03-09  Mon

 L12: BEV Perception [Slides]

  

 - Philion et. al., "Lift, Splat, Shoot"
 - Liu et. al. "BEVFusion"
 - Li et. al., "BEVFormer"
 03-11  Wed

 L13: Motion Forecasting [Slides]

  
 03-16  Mon

 No-class: Spring Break
 Sunday (3/22): Group Form due
 03-18  Wed

 No-class: Spring Break
 03-23  Mon

 L14: Sample-based Motion Planning

 MP1 Due / MP2 Out   Start Final Project
 03-25  Wed

 L15: Optimization-based Planning
 03-30  Mon

 L16: Vehicle Control

  
 04-01  Wed

 L17: Imitation Learning

  MP2 Due / MP3 Out
 04-06  Mon

 L18: Reinforcement Learning
 04-08  Wed

 L19: Learning-based Modular Pipeline
 04-13  Mon

 L20: Foundation model for Driving

     Midpoint Report Due
 04-15  Wed

 L21: Sensor Simulation

  MP3 Due/MP4 Out
 04-20  Mon

 L22: Safety, Scenarios and Behavior Simulation
 04-22  Wed

 L23: Metrics, Verification and Benchmark
 04-27  Mon

 L24: Self-Driving Industry

  
 04-29  Wed

 Invited Talk: Dr. Andrei Bârsan 

  MP4 Due
 05-04  Mon

 L25: Cutting edge topics (V2X, safety, etc)
 05-06  Wed

 Final Presentation

  Final Report Due

  

Course Summary:

Course Summary
Date Details Due