Visual Navigation for Autonomous Vehicles (VNAV)

Lecture Notes

All available lecture slides and course notes are provided in the following table:

LEC #	TOPICS
Unit 1	Introduction Lecture 1: Introduction to VNAV (PDF - 2.8MB)
Unit 2	3D Geometry Lecture 2 and 3: 3D Geometric Basics (PDF - 1.2MB) Lecture 4 and 5: Lie Groups and Distances (PDF)
Unit 3	Geometric Control Lecture 6: Quadrotor Dynamics (slides PDF, course notes PDF - 1.2MB) Lecture 7: Quadrotor Control (PDF - 1.3MB)
Unit 4	Trajectory Optimization Lecture 8: Trajectory Optimization 1 (PDF - 2.2MB) Lecture 9: Trajectory Optimization 2 (slides PDF - 1.8MB, course notes PDF) Lecture 10: Trajectory Optimization 3 (PDF)
Unit 5	2D Computer Vision Lecture 11: Image Formation (slides PDF, course notes PDF) Lecture 12 and 13: Feature Detection and Tracking (slides PDF, course notes PDF - 3.5MB)
Unit 6	2-view Geometry and Minimal Solvers Lecture 14: 2-view Geometry (PDF - 1.4MB) Lecture 15: RANSAC and 3D-3D Correspondences (slides PDF - 1MB, course notes PDF) Lecture 16: ML and MAP Estimation (slides PDF - 1.3MB, course notes PDF)
Unit 7	Non-minimal Solvers and Visual Odometry Lecture 17: Intro to Nonlinear Least Squares (part 1 PDF - 1.4MB, part 2 PDF) Lecture 18: LM and Optimization on Manifold (PDF - 2.1MB) Lecture 19: Optimization on Manifold (PDF  - 3.9MB)
Unit 8	Place Recognition Lecture 20: Visual and Visual-Inertial Odometry (PDF - 7.8MB) Lecture 21: Place Recognition (PDF - 8.8MB) Lecture 22: Bag of Words and Object Detection (PDF - 3.6MB)
Unit 9	SLAM and Visual-Inertial Navigation Lecture 23: SLAM I — Formulations and Sparsity (slides PDF - 2MB, course notes PDF) Lecture 24: SLAM II — Factor Graphs and Marginalization (PDF - 2.1MB)
Unit 10	Advanced Topics: Open Problems in Robot Perception Lecture 25: Dense 3D Reconstruction (PDF - 6.2MB) Lecture 26: Beyond Cameras (PDF - 2.6MB) Lecture 27: Open Problems (PDF - 4.6MB)
Unit 11	Advanced Topics: Metric-Semantic Understanding Lecture 28: Incremental SLAM Solvers (PDF - 3.3MB) Lecture 29: Certifiably Correct SLAM
Unit 12	Advanced Topics: Robustness Lecture 30: Outlier-Robust Perception 1 (PDF - 1.8MB) Lecture 31: Outlier-Robust Perception 2 (PDF - 1.7MB) Lecture 32: Outlier-Robust Perception 3 (PDF - 1.4MB)
Unit 13	Guest Lectures and Student Presentations