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| ELKL7560 | Robotic Vision and Control | 3+0+0 | ECTS:7.5 | | Year / Semester | Spring Semester | | Level of Course | Third Cycle | | Status | Elective | | Department | DEPARTMENT of ELECTRICAL and ELECTRONICS ENGINEERING | | Prerequisites and co-requisites | None | | Mode of Delivery | | | Contact Hours | 14 weeks - 3 hours of lectures per week | | Lecturer | Dr. Öğr. Üyesi Emrah BENLİ | | Co-Lecturer | | | Language of instruction | | | Professional practise ( internship ) | None | | | | The aim of the course: | | Analysis of robotic vision systems. Emphasis is on vision systems, robot perception and vision-based control. Analysis of cutting edge technology in robotic vision. |
| Programme Outcomes | CTPO | TOA | | Upon successful completion of the course, the students will be able to : | | | | PO - 1 : | Have sufficient knowledge on the history of robotics technology with the definitions and key concepts. | 1 - 3 - 7 - 8 | 1, | | PO - 2 : | Have sufficient information for analysis on mobile robot vehicles: Navigation and Localization. | 1 - 3 - 4 | 1,3,5, | | PO - 3 : | Have sufficient information for analysis on vision systems (light, color and image formation). | 1 - 3 - 4 | 1,3,5, | | PO - 4 : | Have sufficient knowledge on camera calibration, utilizing of multiple images and stereo vision. | 1 - 3 - 4 | 1,3,5, | | PO - 5 : | Have sufficient knowledge on the robot vision-based control. | 1 - 2 - 3 - 5 | 1,3,5, | | PO - 6 : | Understand the cutting edge robot technology and recent studies for perception. | 2 - 5 - 7 - 8 | 6, | | PO - 7 : | Simulate robotic vision applications via Matlab
environment and practice team work.
| 6 - 7 | 6, | | CTPO : Contribution to programme outcomes, TOA :Type of assessment (1: written exam, 2: Oral exam, 3: Homework assignment, 4: Laboratory exercise/exam, 5: Seminar / presentation, 6: Term paper), PO : Learning Outcome | | |
| Introduction to the robotics technology. Analysis of mobile robot vehicles: Navigation and Localization. Analysis of vision systems (light, color and image formation). Learning to use multiple images and stereo vision. Simulation of the robot Vision-Based Control. Analysis of cutting edge robot technology and recent studies. |
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| Course Syllabus | | Week | Subject | Related Notes / Files | | Week 1 | Introduction to robotics | | | Week 2 | Representing position and orientation | | | Week 3 | Mobile robot vehicles | | | Week 4 | Navigation and localization | | | Week 5 | Light and color | | | Week 6 | Image formation | | | Week 7 | Camera calibration | | | Week 8 | Obtaining an image | | | Week 9 | Midterm | | | Week 10 | Image feature extraction | | | Week 11 | Using multiple images | | | Week 12 | Stereo vision | | | Week 13 | Point clouds | | | Week 14 | Vision-based control | | | Week 15 | Analysis of cutting edge robot vision technology and recent studies | | | Week 16 | End-of-term exam | | | |
| 1 | Sunum ve ders notları | | | 2 | Corke Peter, 2016, Robotics, Vision and Control, Springer | | | |
| 1 | Siciliano and Khatib, 2016, The Handbook of Robotics | | | 2 | M. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control, Wiley | | | |
| Method of Assessment | | Type of assessment | Week No | Date | Duration (hours) | Weight (%) | | Mid-term exam | 9 | | 2 | 10 | | Project | 14 | | 10 | 30 | | Presentation | 12 | | 2 | 10 | | End-of-term exam | 16 | | 2 | 50 | | |
| Student Work Load and its Distribution | | Type of work | Duration (hours pw) | No of weeks / Number of activity | Hours in total per term | | Yüz yüze eğitim | 3 | 14 | 42 | | Sınıf dışı çalışma | 5 | 14 | 70 | | Arasınav için hazırlık | 2 | 7 | 14 | | Arasınav | 4 | 6 | 24 | | Ödev | 4 | 5 | 20 | | Proje | 2 | 10 | 20 | | Dönem sonu sınavı için hazırlık | 1 | 5 | 5 | | Dönem sonu sınavı | 2 | 1 | 2 | | Total work load | | | 197 |
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