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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 in applied mathematics, algorithms, and geometry that have found applications in areas such as robotics and computer vision, as well as computer graphics, geometric modeling, visualization, human-computer interaction and speech recognition, to name a few. Homogeneous coordinates and transformations, perspective projection, rotations in space, 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, linear programming, simplex method, nonlinear optimization, Lagrange multipliers, data fitting, least squares, calculus of variations. Programming components. Scholarly report required for graduate credit.