Introduction to 31392 Perception for Autonomous Systems
DTU Electrical Engineering
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• Overview
• Lecturers
• “Perception for Autonomous Systems”: What and Why? • General Objectives
• Learning Objectives
• Literature
• Course Terminology
• Course Timeline
• Important Dates
• Exams / Evaluation
DTU Electrical Engineering
• Technological Specialization course for the MSc. in Autonomous Systems
• Elective for other DTU MSc programmes
• All course lectures and activities:
• Mondays 13:00-17:00 and Thursdays 08:30-12:00
• Lectures and Guest Lectures will be held:
• physically: Building 341 / Auditorium 21
• and also, live-streamed electronically on Zoom, Link:
https://dtudk.zoom.us/j/69140074865?pwd=SmhuYWI0RHJ2eEhTL21BQmgzMmRKZz09
• Exercises, Weekly Projects and Final Project work will be supported:
• purely electronically through Discord, Link: https://discord.gg/dZhSUYPjDg
• You are very welcome to use our room (Building 341 / Auditorium 21) both on Mondays and Thursdays for all these activities with your groups.
• Communication and Material Sharing will take place through DTU Learn
DTU Electrical Engineering
Lecturers • Lecturers:
– , Associate Professor, build. 326, room 018. – , Associate Professor, build. 326, room 020.
• Teaching Assistants:
– Becktor, PhD Student
– , PhD Student
DTU Electrical Engineering
What is “Perception”?
DTU Electrical Engineering
What is an “Autonomous System”?
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Why Autonomous Systems need Perception?
DTU Electrical Engineering
General Objectives
• Theory and practical applications of perception for autonomous systems.
• Transform sensory input from a variety of imaging and 3D sensors into more abstract description.
• Allow autonomous systems to perceive their environment and act within it or interact with it.
• Both the mathematical descriptions and programming tools to implement such perception techniques. – Open source tools will be used as much as possible, such as Python, OpenCV and Open3D.
• Enable you to use the taught concepts and tools to further develop either embodied (e.g. robotic) or intangible (e.g. software agent) Autonomous Systems.
DTU Electrical Engineering
Learning Objectives
A student who has met the objectives of the course will be able to:
• Describe the steps that lead to 3D reconstruction using multiple views.
• Define commonly used image feature extraction and matching techniques,.
• Discuss characteristics of various ranging sensors and techniques.
• Apply software tools to process 3D point clouds.
• Combine visual and 3D sensory input with state estimation techniques.
• Describe the differences between classical and learning-based object/scene classification techniques.
• Describe the different steps in visual odometry and explain the operation of the related algorithms.
• Combine the taught material to propose and describe possible implementations of further perception applications.
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Literature
In this course we will be using 2 books as our main sources. However, topic-specific research papers and other additional material might be distributed in certain classes.
• . 2010. Computer Vision: Algorithms and Applications (1st. ed.). Springer-Verlag,
Berlin, Heidelberg.
• . Forsyth and . 2002. Computer Vision: A Modern Approach. Professional Technical Reference.
DTU Electrical Engineering
Course Terminology (1/2)
• Lectures & Exercises:
• As a general rule, Mondays will start with Lectures of new theoretical topics and • finish with Exercises applying the topics of the day.
» Exercises will be not be accompanied by solutions and it is up to the students to solve them, using the provided material. No hand-in is required for Exercises.
• Weekly Projects:
• Thursdays will be mainly devoted to Weekly Projects. They are small, self-contained assignments where students need to exhibit self-driven behavior, use the taught material but also possibly go beyond that in order to solve them. No report is required for Weekly projects.
» No report is required for Weekly projects. In most cases, there are more than one correct ways of dealing with the Weekly Projects. Due to their open nature and to avoid limiting exploratory learning of students, no exact solutions to the Weekly projects will be provided. Instead, an indicative list of abstract steps in the form of hints, will be provided.
• Mini-Quizzes:
• Throughout the course we will be having some Mini-Quizzes. They are short multiple-choice quizzes that will prepare the students for the style of questions expected in the final exam.
DTU Electrical Engineering
Course Terminology (2/2) • Guest Lectures:
• Towards the end of the course, a number of Guest Lectures are invited, where externals will link the course topics to real applications and industrial needs.
• Final Project:
• The last period of the course is devoted to a Final Project,
• Students are expected to work in groups of 5 people and solve a bigger assignment that will be given to them.
• The outcome of the Final Project is a report of 10±2 pages that includes a link to a video demonstrating the group’s main achievements.
• A positive evaluation (pass/fail) of the report is mandatory for the group members to participate in the final exam.
DTU Electrical Engineering
Course Timeline
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Important Dates
3. February 2021
Deadline for group formation.
Students form groups of 5 people to work together on Exercises, Weekly Projects and Final Project.
28. March 2021
Announcement from the teachers of the Final Project description.
9. May 2021
Group report hand-in.
11. May 2021
Information about non-qualification for participating in the exam by email to the members of groups with inadequate reports.
16. May 2021
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Exams / Evaluation
The assessment for this course will take place by evaluating together the group report and the personal final exam score:
• Groups of 5 people will submit reports about their Final Project by the end of the course.
Submission will take place by uploading on DTU Learn.
• The report needs to be 10±2 pages and include a link to a video demonstrating the group’s main outcomes.
• Approval of report (based on a pass/fail evaluation) is mandatory for the group members to participate in the exam.
• The report will account for 10% of the final grade.
• The examination type is multiple-choice test with questions and problems on the taught material. • The duration of the exam will be 4 hours.
• The exam score will account for 90% of the final grade.
DTU Electrical Engineering
• Our goal is to learn a lot and connect theory to real problems. • We need your feedback during the semester!
• We are looking forward to an exciting course!
DTU Electrical Engineering
Introduction to 31392 Perception for Autonomous Systems
DTU Electrical Engineering
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