Perception for Robotics

This teaching unit aims to study and implement perception systems for mobile robots, manipulators, humanoids, ... The teaching is based on proprioceptive and exteroceptive perception systems with an important focus on vision systems. In the lectures, the general principles of perception are presented as well as the functioning of the most commonly used sensors (cameras, projectors, distance, motion and position sensors, ...). A series of practical works accompany this teaching, taking the form of a long project punctuated by sub-goals addressing different parts of the course.

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This course presents the perception systems commonly used on all types of robots (e.g., mobile robots, manipulators, humanoids). The course presents proprioceptive and exteroceptive sensors with a focus on vision. We start by introducing the general principles of perception, and then explain the modeling and working principle of the main robot sensors: monocular cameras, stereo cameras, distance position and movement sensors, etc. The lab practicals consist of a robotic project with sub-goals addressing the various steps of the course.

This course aims to familiarize the student with the study and use of perception systems for robots. Its ambition is to ensure that a student who has taken it is able to read and understand a scientific article in this field and to participate in the development of a robot's perception system by being a force of proposal in its elaboration.

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The objective of this course is to make the student familiar with perception systems for robots. How to design a perception system? How to model it? How to use the sensor information? Its ambition is to enable the student to read and understand a scientific article in this field and to participate in the development of a robot's perception system.

Contact Hours:

            Taught lectures: 27 hours

            Laboratory Practicals: 15 hours

• Good knowledge in signal and image processing,
• Notions of robotics and automation,
• Good knowledge in computer engineering.
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• good knowledge in signal and image processing,
• notions of robotics and automation,
• good knowledge in computer engineering.

Written exam with documents based on scientific articles 60%.

Practical work 40% of the time

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Written exam based on scientific journal or conference papers 60%.

Practical project 40

Geometric modeling of image formation,

Camera calibration

Principle of stereovision

Motion vision (optical flow, target tracking, ...)

Vision in structured light

Omnidirectional and plenoptic vision

Operating principle and main characteristics of distance, motion and position sensors

Notions of visual servoing

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Geometric modeling of image projection,

Camera calibration

Basics of stereo-vision

Vision with movement (optical flow, target tracking, etc.)

Structured light vision

Omnidirectional and plenoptic vision

Working principle and main characteristics of distance, movement and position sensors

Basics of visual servoing 

CM : 27h

TP : 15h

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Taught lectures: 27 hours

Laboratory Practicals: 15 hours