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COM S 477: Foundations of Robotics and Computer Vision

(Dual-listed with COM S 577). (3-0) Cr. 3.

Prereq: COM S 228; COM S 230 or CPR E 310; MATH 207 or MATH 317, or consent of the instructor; for graduate credit: graduate standing or permission of instructor
Selected topics from applied mathematics, algorithms, geometry, and mechanics that are fundamental to robotics and computer vision, and are also applied in computer graphics, geometric modeling and visualization, to name a few. Homogeneous coordinates and transformations, perspective projection, camera calibration, rotations and quaternions, roots of polynomials and polynomial systems, solution of linear and nonlinear equations, parametric and algebraic curves, curvature, torsion, Frenet formulas, surfaces, fundamental forms, principal curvatures, Gaussian and mean curvatures, geodesics, approximation, Fourier series and fast Fourier transform, nonlinear optimization, Lagrange multipliers, least squares, surface fitting and calculus of variations. Programming components. Scholarly report required for graduate credit.