EESC 7V85 501: Vision-Based Estimation and Control

Fall 2012, University of Texas at Dallas






This page is under construction and subject to change


Administrative Information


Dr. Nicholas Gans 


Fall Semester 2012


Tuesday and Thursday 1:00PM - 2:15 PM

ECSS 2.110

Office Phone 972-883-4341
Office Location ECSN 4.910
Email Address [email protected]

Syllabus - EE_7V85-Syllabus_F_2012_Gans.pdf (please note that the syllabus is preliminary and subject to change until the start of the course)


EESC 7V85 501 Vision-Based Estimation and Control (3 semester hours) This is a course for graduate students in ECE, CS, ME, Math and Geosciences.   Topics cover building 3-D graphical models from 2-D images from multiple or single cameras, recovering 3-D motion of mobile robots from onboard cameras.  Specific topics include:

The class is self-contained and will provide introductions to robot kinematics, linear and nonlinear control and Kalman Filtering. 

There are no planned exams.  Course work and assignments will be heavily project oriented, with programming assignments to implement class topics in simulations and real images/video. By the end of the course, students will have a valuable set of functions and programs to use for future work or research. This will culminate with a final project to be chosen by the student in conjunction with his or her research advisor, if desired. This project is intended to be of the level that it could lead to a conference paper, and students will present their project to the class.

Pre-requisites& other restrictions

Texts & Materials

Highly Recommended: An Invitation to 3-D Vision: From Images to Geometric Models by Y Ma, S. Soatto, J. Kosecka, and S. Sastry

Supplementary: Introductory Techniques for 3-D Computer Vision  by E. Trucco and  A. Verri

Multiple View Geometry in Computer Vision  R. Hartley and A. Zisserman

Other materials, such as journal papers, will be provided in class