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American Institute of Aeronautics and Astronautics

    Course Outline

    Vision-Based Control for Autonomous Vehicles

    Course Outline:

    I. Introduction

    II. Cameras
    a. Focal Length
    b. Radial Distortion

    III. Image Processing
    a. Feature Point Tracking
    b. Color And Texture

    IV. Synthetic Vision
    a. Optic Flow
    b. Structure From Motion

    V. Scene Reconstruction
    a. Learning From Regression
    b. Multiresolution Analysis
    c. Updating Surface Regions

    VI. State Estimation
    a. Kalman Filter
    b. Optic Flow Decomposition
    c. Lyapunov Analysis

    VII. Robust Vision
    a. Camera Uncertainty
    b. Calibration Uncertainty

    VIII. Visual-Servo Control
    a. Homography-Based Approach
    b. Line-Of-Sight Progression

    IX. Path Planning
    a. Multi-Rate Feedback
    b. Receding Horizon

    X. Experimental Validation