Abstract:

In several computer science degrees there are subjects related to computer vision or robotics. Although those subjects are usually related to industrial engineers, those areas are closely related to computer science, i.e., everyday more and more computer science students begin a master’s degree or PhD in robotics. However, those students have not got basic skills necessary in robotics. For instance, there is not control related subject in the computer science curricula.

Thus, the contents in a subject of these characteristics must be defined carefully. In this paper we review an implementation of a computer vision and robotics subject within a computer science degree in the University of Alicante.

Regarding the theoretical concepts, we decided to include the following concepts:
Evolution of the robotics.
Block 1: Computer vision.
Feature extraction and description in 2D and 3D. Registration methods in 2D and 3D. Object recognition. Optical flow.
Block 2: Robotics
Robot models and sensors. Behaviors. Mapping. Localization. Simultaneous Localization And Mapping. Robotics applications
With this syllabus the student has a wide, but not deep, knowledge about computer vision and robotics. However, the computer vision concepts are closely related to robotics, i.e., we review the basic elements in computer vision used for developing robotics tasks. In this way, students can obtain a basis for developing these skills in a master degree.

Regarding the practical lessons, we propose to use several standard tools: OpenCV (a classical and most used 2D computer vision library), Point Cloud Library (PCL, almost the only 3D point cloud library), and Robot Operating System (ROS). ROS has become a standard in robotics and contains both OpenCV and PCL. It implements the most used robotics algorithms, so the student can test almost any of the methods seen in the theoretical sessions.
However, ROS has a difficult learning curve. It is necessary to dedicate several practical sessions to give a basic background about ROS. This is a disadvantage against others frameworks, but we think ROS is a standard so we use it for the whole course.

This paper could serve as a guided for future implementation of computer vision and robotics concepts for a computer science degree.

Keywords:

Robotics, computer science degrees.