METR 4202: Tutorials

Tutorials:

Tutorial 1: Week 1 :: Getting Started!
Tutorial 2: Week 2 :: Homogenous Transforms
- (with reading from Â§2.4 of Multiple View Geometry, 2nd Ed.)
- Solutions
- Examples and Key Slides from Lecture 2
Tutorial 3: Week 3 :: Forward Kinematics (including DH!)
- Solutions
- Supplementary Inverse Kinematics Examples

Tutorial 4: Week 4 :: Pin-Point Practice
- (with reading from Runia and Pratap's Introduction to Statics and Dynamics)
Tutorial 5: Week 5 :: Torques and Trajectory Generation

Tutorial 6: Week 6 :: Camera Calibration
- Checkerboard Template (A4)
- Solutions
- Calibration Pattern (Chekerboard - Matlab | Circles - OpenCV)
- Calibration Dance: 10fps (AVI) and 30fps (AVI) and Matlab MAT
- Calibration Toolbox: Please see Software page
Tutorial 7: Week 7:: Image Formation and Sensing
- Sample Images: (1) canny_edges (2) chess_circles and (3) transformed_circles (► all in one zip)
- Tutorial 7: Solutions and associated Matlab code (thank you Aaron!)
- Source code Inverse Perspective Mapping C++ (OpenCV) (source code cached)
Tutorial 8: Week 8 :: 2D Template Tracking (via Iterative algorithms)
- Prerequisite Reading: §6.1 of Szeliski, Computer Vision: Algorithms and Applications, 2011 â€” Chapter 6
- Tutorial Guide (PDF)
- Tutorial image files (ZIP)
Tutorial 9: Week 9:: Lab 2 Q & A
- Please Review:
- Tutorial 6: Camera Calibration
- Tutorial 7: Image Formation and Sensing
- Tutorial 8: 2D Template Tracking (via Iterative algorithms)
- Lecture 8 Extension: Sample vl_SIFT Matching Matlab Codes
Tutorial 10: Week 10 :: Lab 2 Demonstration
Tutorial 11: Week 11:: Robot Motion Planning and Simulation

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

Laboratory 1 (12.5 %) -- Kinematics: Pip Motion
- Lab Guide as PDF
- Number Generator
- Due: Week 5
  - Demo: August 22/25
  - Report: August 28
- Marking Guide
- Lab 1: Online Sign-up Form
- Peer Assessment Factor Form
  (Please complete one form per team member)
- Lab 1 Demonstration Photographs
Lab 2: Sensing: Spotty Perception
- Lab Guide as PDF
- Due: Week 10 (extended!)
  - Demo: October 6/7
  - Report: October 8
- Sensor Guides/Tips:
  - Kinect 1/2 (RGB+D camera): Guide to Connecting the Kinect (in Matlab)
  - Matlab Kinect Test Script
  - LifeCam Studio (webcam): Camera Chimera
- Sample frames with calibration fiducials for camera localisation and calibration:
- Marking Guide
- Sample Scences:
  - Basic Scene | Skillful Scene | â‰« Skillful Scene
  - Sample Scene Videos
- Sample vl_SIFT Matching Matlab Codes
- Lab 2: Online Sign-Up Form
- Peer Assessment Factor Form (Lab 2)
- Lab 2 Demonstration Photographs
Lab 3: Systems: Robotics of a Domino Sort
- Lab Guide as PDF
- Due: Week 14 (as per Extension Poll)
  - Grading: October 27-November 21
  - Report (Individual + Group): November 17
  - Open Demo/Tournament: November 21
- Grading Sheet
- Peer Assessment Factor Form for Lab 3
  (Please complete one form per team member)
- Lab 3 Demonstration Photographs
- Lab 3: YouTube Video Playlist

Guides & Related Files:

3D Frame Template

UQ METR Dynamixel Kit (for sale for AU$365 at Tribotix)

Lego Kit (9797) Parts Checklist
UQ ITEE Peer Assessment Form

2016: Pictures from Lab 1 (Kinematics) | Pictures from Lab 2 | Pictures from Lab 3 | Grade Distrubtions
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)

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