[     Shortcuts    :         PS/Laboratory 3         |        Tutorials         |         Problem Sets         |         Quiz Review         |         Guides     ]

Tutorials:

• Tutorial 1: Week 2 :: Getting Started
  • Solutions
    


• Tutorial 2: Week 3 ::  Forward Kinematics (including DH)
  • Supplementary Inverse Kinematics Examples
  • 3-Link Robot Cutout A3/A4 Template
  • Solutions
    
    
• Tutorial 3: Week 4:: Torques and Trajectory Generation
  • Solutions
    
    


• Tutorial 4: Week 5:: Quiz Review
• Tutorial 5: Week 6:: Image Manipulation & Basic Processing
  • Sample Images [Cards-1] | [Cards-2]
  • Canny, "A Computational Approach to Edge Detection," PAMI, 8(6):679-698
    
    
• Tutorial 6: Week 7 :: Camera Calibration and Homography
  • Calibration Pattern:
    • Checkerboard Template (A4)
    • Chekerboard - Matlab (US Letter)
    • Circles - OpenCV
    • Challenge Question - Warped Checkerboard
  • Calibration Dance: 10fps (AVI) and 30fps (AVI) and Matlab MAT
  • Calibration Toolboxes: Please see Software page
    
    
• Tutorial 7: Week  8 :: Image Features and SIFT
  • Tutorial Guide (PDF)
  • Simplified Tutorial Guide (with download links)
  • Sample Images
  • Additional Resources: Image Merging Script  &  Maximum Detector Response Markers for SIFT and SURF (Paper)
  • Sample vl_SIFT Matching Matlab Codes


• Tutorial 8: Week  9 :: 2D Template Tracking (via Iterative algorithms)
  • Prerequisite Reading: §6.1 of Szeliski, Computer Vision: Algorithms and Applications, 2011 -- Chapter 6
  • Tutorial Guide (PDF)
  • Tutorial image files (ZIP)
    
• Tutorial 9: Week 10:: Robot Motion Planning and Simulation
  • Naive Motion Planning Tutorial
  • Grid Search (A* search) Demo (in MATLAB)  (UQ Cached Code)
  • Virtual Robot Experiment Platform (UQ Cached | Coppelia Robotics )
  • Dr. Kurniawati's COMP 3702 AI: Motion Planning Tutorial (#3)  |  (& Sample Solutions)
  • A* Step-by-Step Example Video (Berkeley CS 188)
    
• Tutorial 10: Week 11:: Robot Motion Planning and Simulation  
  • Tutorial Guide (Google Doc)  +  Map File (Matlab)
  • Chapter 5 (Navigation) of Robotics, Vision and Control (2nd Edition, pp 125-149).
    
• Tutorial 11: Week 12:: Planning & Control
  • PS-Lab 3 Q & A
  • Naive Motion Planning Tutorial
  • Solution & Sample Codes developed during the Tutorial

• Tutorial 12: Week 13:: Planning & Control II
  • PS-Lab 3 Q & A
  • Cart-Pole Inverted Pendulum (State-Space)
    • Sample Script (showing State-Space and LQR Control)

Problem Sets:

• Problem Set 1 (15%): Kinematics: First Impression
  • Due: Aug/23/2019 11:59pm
  • Note: To be done individually please!
    
    
    
• Problem Set 2 (20%): Sensing & Perception
  • Due: Sept/20/2019 11:59pm  Sample Image Library
    • Sample Image Library  [Large ZIP File!]
    • Additional Sample Image Library  [ZIP File]
  • Note: To be done individually please!
    
    
    
• Problem Set/Laboratory 3 (50 %) -- Capture the flag
  • Demo date: 11am-12am Oct/25/2019 (Axon 104)  
  • Demo date: 10am-2pm Nov/15/2019 (Axon 104) 
  • Teams
  • Schedule
  • Camera Quick Start Guide
  • Python examples and module
  • Pictures from Demo Day 2018  
    

Quiz Review:

• Format:
  • ID Verified Quiz
  • 45 minutes + 10 minutes for reading
  • Optional Materials:
    • A single copy of the 3D Frame Template will be provided (but is not required)
    • Single-sided A4 Formula Sheet allowed  (but not required)
    • Calculator allowed (but not required)

• Mid-Term 2018
  • Quiz Paper
• Mid-Term 2017
  • Quiz Paper
• Final Exam 2016
  • Exam Paper
• Mid-Term Exam 2015
  • Quiz Paper
  • Quiz Solutions
• (No Final Exam in 2014)
• Final Exam 2013 (24-hour Take Home Exam!)
  • Exam Paper

• 3D Frame Template
• UQ METR Dynamixel Kit (for sale for AU$365 at Tribotix)
• Lego Kit (9797) Parts Checklist
• UQ ITEE Peer Assessment Form
• CRediT taxonomy (Overview)
  
  
  
• 2018: Pictures from Lab 3 (Through the Looking Glass) Demonstrations
• 2017: Pictures from PS/Lab 3 (System) | Demonstration Video
• 2016: Pictures from Lab 1 (Kinematics) | Pictures from Lab 2 | Pictures from Lab 3  |  Grade Distributions 
• 2015: Pictures (Picasa) from Labs 1-3
• 2014: Pictures (Picasa) from 2014 ("Raise the BAR")
• Pictures from Lab 2 ("Glass Half Full") and Lab 1 (Kinematics)
  
• 2013: Pictures (Picasa) & Videos (YouTube) from 2013 ("Change. The Future.")
  
• CHARM Robot explanatory video
• Pictures from Lab 1 Demo Day (2013)

Laboratory Hardware Specifications & Drivers:

Specifications

• Laboratory Hardware Technical Specifications

Driver/Downloads:

• Windows 10 Ximea API Camera Software Bundle  [cached]
• Lab 3 Windows 10 Dynamixel/Ximea Camera Software Bundle (~400 MB)

Please refer comments & questions to: metr4202@itee.uq.edu.au

Previous Courses:  METR4202/7202 -- 2017  ||  METR4202/7202 -- 2016  ||  METR4202/7202 -- 2015  ||  METR4202/7202 -- 2014  ||  METR4202/7202 -- 2013  || METR4202/7202 -- 2012
© 2012 - 2018, Robotics Design Lab at The University of Queensland
This work is licensed under a Creative Commons License (BY-NC-SA)