1
课程详述
COURSE SPECIFICATION
以下课程信息可能根据实际授课需要或在课程检讨之后产生变动。如对课程有任何疑问，请联
系授课教师。
The course information as follows may be subject to change, either during the session because of unforeseen
circumstances, or following review of the course at the end of the session. Queries about the course should be
directed to the course instructor.
1.
课程名称 Course Title
机器人与视觉感知：基本原理及算法
Robotics and Visual Perception: Fundamentals and Algorithms
2.
授课院系
Originating Department
机械与能源工程系
Department of Mechanical and Energy Engineering
3.
课程编号
Course Code
ME339
4.
课程学分 Credit Value
3
5.
课程类别
Course Type
专业选修课 Major Elective Courses
6.
授课学期
Semester
春季 Spring
7.
授课语言
Teaching Language
英文 English
8.
授课教师、所属学系、联系方
式（如属团队授课，请列明其
他授课教师）
Instructor(s), Affiliation&
Contact
（For team teaching, please list
all instructors）
贾振中，机械与能源工程系
Zhenzhong Jia, Department of Mechanical and Energy Engineering
Email（电子邮箱）: jiazz@sustech.edu.cn
Cellphone（手机）: 86-15712835401
9.
实验员/助教、所属学系、联系
方式
Tutor/TA(s), Contact
待公布 To be announced
10.
选课人数限额(可不填)
Maximum Enrolment
（Optional）
2
授课方式
Delivery Method
习题/辅导/讨论
Tutorials
实验/实习
Lab/Practical
其它(请具体注明)
Other（Please specify）
总学时
Total
11.
学时数
Credit Hours
48
12.
先修课程、其它学习要求
Pre-requisites or Other
Academic Requirements
MA107A 线性代数 Linear Algebra A、 MA212 概率论与数理统计 Probability and
Statistics
有编程基础，熟悉 Matlab 的使用,建议先修 ME112 MATLAB 工程应用 Introduction to
Matlab
13.
后续课程、其它学习规划
Courses for which this course
is a pre-requisite
现代机器人学（研究生）
Modern Robotics (for Graduate Students)
14.
其它要求修读本课程的学系
Cross-listing Dept.
电子与电气工程、计算机科学与工程
Electrical and Electronics Engineering, Computer Science and Engineering
教学大纲及教学日历 SYLLABUS
15.
教学目标 Course Objectives
本课程涵盖机器人、视觉和控制的基本概念和算法。它将理论、算法和示例结合在一起，分别阐述机器人技术和计算机视
觉并对其进行综合。本课程首先对移动机器人、导航、定位、运动学、动力学和关节级控制等基础知识串讲学习，然后讲
述相机模型、图像处理、特征提取和多视角几何，最后将所有内容综合到视觉伺服系统的广泛讨论中。在本课程中，通过
使用 MATLAB Robotics 和 Vision 工具箱，我们将展示如何仅用几行简单的代码就可以分解和解决复杂的问题。本课程所
涵盖的主题以实际问题为指导。
This course covers the fundamental disciplines and algorithms of robotics, vision and control. It weaves together theory,
algorithms and examples in a narrative that covers robotics and computer vision separately and together. This course is
a real walk through the fundamentals of mobile robots, navigation, localization, arm-robot kinematics, dynamics and joint
level control, then camera models, image processing, feature extraction and multi-view geometry, and finally bringing it
all together with an extensive discussion of visual servo systems. In this course, by using MATLAB Robotics and Vision
Toolboxes, we will show how complex problems can be decomposed and solved using just a few simple lines of code.
The topics covered are guided by real problems.
16.
预达学习成果 Learning Outcomes
本课程的预学习成果为：（1）记住机器人学中的基本概念，包括移动机器人、机械臂及运动规划等；（2）记住视觉感知
中的基本概念；（3）了解机器人和视觉感知领域中的常用方法；（4）将上述基本概念和常用方法应用到多种机器人平台
和问题中，包括移动机器人、机械臂、视觉伺服等。
The desired learning outcomes of this course are: (1) Remembering basic concepts in robotics (mobile robots,
manipulator, and motion planning); (2) Remembering basic concepts in visual perception; (3) Understanding the most
common techniques used in the field; (4) Applying them on a variety of robotic platforms, including mobile robots,
manipulators, and visual servoing;
17.
课程内容及教学日历 （如授课语言以英文为主，则课程内容介绍可以用英文；如团队教学或模块教学，教学日历须注明
主讲人）
Course Contents (in Parts/Chapters/Sections/Weeks. Please notify name of instructor for course section(s), if
this is a team teaching or module course.)
3
课程内容
教学要求
学时
分配
绪论
机器人与视觉感知的应用背景
本课程的性质、任务和主要内容
课程安排与考核标准
基础知识：位置和运动
所需前期知识的复习
Introduction
Application background of
Robotics and visual perception
The objectives, outcomes and main
topics of this course
Schedules and grading policies
Recap of prerequisite knowledge
了解机器人与视觉感知的发展和重要性
了解本课程在机器人培养方向的地位，了解其目
标、任务、内容、课程安排和考核
Understand the history and importance of
Robotics and Visual Perception
Understand the importance of this course to
robotics education program
Understand the objectives, expected outcomes,
main topics, schedules and grading policies of
this course
【RVC，Chapter-1】
2
机器人基础知识
位置和运动
时间和运动
Foundations of Robotics
Position and Motion
Time and Motion
了解如何表示位置和姿态，了解机器人运动和时
间的关系
Understand methods of representing position and
orientation
Understand robot motion versus time
【RVC，Chapter-2 and Chapter-3】
4
移动机器人
轮式移动机器人
多旋翼无人机
Mobile Robot Vehicles
Wheeled Mobile Robots
Flying Robots – Quadrotors
了解移动机器人平台，特别是不同形式的轮式移
动机器人，以及多旋翼无人机
Understand mobile robot platform, especially
different types of wheeled mobile robots, and
flying robots such as quadrotors
【RVC，Chapter-4】
2
机器人导航
反应导航
基于地图的规划
Navigation and Localization
Reactive Navigation
Map-Based Planning
了解机器人导航的基本原理，了解反应导航，以
及基于地图的导航（即运动规划）
Understand the robot navigation problem
Understand reactive navigation, and map-based
navigation, i.e., motion planning
【RVC，Chapter-5】
2
机器人定位
航位推测
定位与建图
蒙特卡洛方法
Localization
Dead Reckoning
Localization and Mapping
Monte-Carlo Methods
了解机器人定位中的多种方法，包括航位推测、
同时定位与建图、蒙特卡洛方法等
Understand multiple localization methods,
including dead reckoning, SLAM, Monte-Carlo,
and other methods
【RVC，Chapter-6】
4
关节型机器人及其运动学
正运动学
逆运动学
速度运动学—雅克比
Arm-Type Robots and Kinematics
Forward Kinematics
Inverse Kinematics
Velocity Kinematics – Jacobian
了解关节型机器人及其运动学基本知识，包括正
运动学、逆运动学、雅克比
Understand arm-type robots and their kinematics,
including forward / inverse kinematics, and
velocity kinematics (Jacobian)
【RVC，Chapter-7 and Chapter-8】
4
机器人动力学与控制
独立关节控制
运动学方程
动力学补偿控制
Dynamics and Control
Independent Joint Control
Equations of Motion
Dynamics Compensation
了解机器人动力学与控制基本知识，包括独立关
节控制、运动学方程、补偿控制等
Understand the basics of robot dynamics and
control, including independent joint control, rigid-
body equations of motion, and dynamics
compensation
【RVC，Chapter-9】
4
期中考试-课程复习
Mid-Term Review Lecture
系统回顾上半学期内容（主要是机器人）
Systematic review of materials covered in the
first-half semester (mainly robotics)
2
4
期中考试
Mid-term Exam
0
计算机视觉
光和颜色
图像生产
Computer Vision
Seeing (Light and Color)
Image Formation
了解图像生成的基本原理
Understand the basic principle of image
formation
【RVC，Chapter-10 and Chapter-11】
2
计算机视觉
图像直方图
图像处理
Computer Vision
Images Histograms
Image Processing
了解图像处理的基本知识和多种常用方法，学习
多个实例和编程
Understand basics and multiple methods used for
image processing
Study multiple examples and programming
【RVC，Chapter-12】
6
计算机视觉
图像特征提取
多视角情况
Computer Vision
Image Feature Extraction
Multiple View Case
Understand the basics of image feature
extraction and multi-view case
Familiar with basic operations through
programming examples
了解图像特征提取和多视角计算机视觉的基本知
识，并通过编程熟悉其基本操作
【RVC，Chapter-13 and Chapter-14】
6
基于视觉的控制
基于位置的视觉伺服
基于图像的视觉伺服
Vision-Based Control
Position-Based Visual Servoing
(PBVS)
Imaged-Based Visual Servoing
(IBVS)
Understand the basic principles and applications
of visual servoing
Understand PBVS and IBVS
了解视觉伺服控制的基本原理及应用
了解 PBVS 和 IBVS 的原理及应用
【RVC，Chapter-15】
4
高等视觉伺服
XY/Z 分割视觉伺服
使用极坐标的视觉伺服
使用球形相机的视觉伺服
物体识别及其应用
Advanced Visual Servoing
XY/Z-Partitioned IBVS
IBVS using Polar Coordinates
IBVS for a Spherical Camera
Object Recognition and Its Applications
了解高等视觉伺服的典型实例，包括 XY/Z 分割视
觉伺服、使用极坐标的视觉伺服、使用球形相机
的视觉伺服、应用实例
介绍物体识别方法及其在机器人中的应用
Understand typical examples of advanced visual
servoing, including XY/Z-partitioned IBVS, IBVS
using polar coordinates, spherical camera based
IBVS, and typical applications
【RVC，Chapter-16】
Introduce object recognition methods and its
applications in robotics (supplement)
4
课程复习与未来展望
Course Review and Future Prospects
2
期末考试
Final Exam
0
18.
教材及其它参考资料 Textbook and Supplementary Readings
Peter Corke, “Robotics, Vision and Control: Fundamental Algorithms In MATLAB”, Second Edition
参考：Peter Corke 著，刘荣 等译. 《机器人学、机器人视觉与控制——MATLAB 算法基础》，电子工业出版社
课程评估 ASSESSMENT
19.
评估形式
Type of
Assessment
评估时间
Time
占考试总成绩百分比
% of final
score
违纪处罚
Penalty
备注
Notes
出勤 Attendance
5
课堂表现
Class
Performance
5
小测验
Quiz
5
课程项目 Projects
平时作业
Assignments
40
期中考试
Mid-Term Test
25
期末考试
Final Exam
25
期末报告
Final
Presentation
其它（可根据需要
改写以上评估方
式）
Others (The
above may be
modified as
necessary)
20.
记分方式 GRADING SYSTEM
☑ A. 十三级等级制 Letter Grading
B. 二级记分制（通过/不通过） Pass/Fail Grading
课程审批 REVIEW AND APPROVAL
21.
本课程设置已经过以下责任人/委员会审议通过
This Course has been approved by the following person or committee of authority
机械与能源工程系教学委员会