CSE 673: Computational Vision - Spring 2013

Video cuboid

During this course we explore some of the underlying principles and algorithms that enable computers to see and reason spatially. This enables mobile robots to perceive the world around them in order to accomplish useful tasks such as navigating through the world, manipulating objects and interacting with humans. One good definition of robotics is the intelligent connection of the perception to action. From this it is clear what a vital role perception plays; as it comes first in the processing chain it is difficult to improve the latter aspects without functional perception.

We will work from research papers and reports rather than a required textbook.

MoWeFr 13:00-13:50
Davis 338A
Course Website
Julian Ryde (UBIT: jryde), Office 333, Davis Hall, 716 645 1590, jryde at buffalo dot edu
Office hours
TuTh 1200-1400 (Davis 333)
Exam Schedule
Midterm, Wednesday 6 March 2013, 13:00-13:50 in Davis 338A
Final, Wednesday 8 May 2013, 11:45-14:45 in Norton 210

Lecture dates

Wk Start Mon Wed Fri
1 Jan 14 Introduction, 01 Python for CV, PythonCV, PythonCV2
2 Jan 21 No Class Projective geometry, 02 Stereopsis, 02
3 Jan 28 Correspondence, 03 Shape from X, 03
4 Feb 04 Passive 3-D Object recognition, 04
5 Feb 11 Pointclouds (J. Delmerico), PCL  
6 Feb 18 Optical flow, 05 Structure from motion, 05
7 Feb 25 FeatureDetection ExamPrep ExamPrep, Natural Vision, 06
8 Mar 04 Natural Vision, 06 Midterm Exam No Class
9 Mar 11 Spring Break No Classes
10 Mar 18 Purposive Vision, 07 Egomotion estimation, 08 Collision Avoidance, 08
11 Mar 25 Visual Servoing, 08 Visual Homing, 08 Vision for recognition, 09
12 Apr 01 Active Object Recognition, 09 Active Object Recognition, 09 Attentional control, 10
13 Apr 08 Mobile robot mapping, 11 Student presentations
14 Apr 15 Student presentations
15 Apr 22 Student presentations
16 Apr 29 Final Exam preparation Reading Days

See Projects for the project presentation schedule and the guidelines for the Presentations.

Course outline

The outline may change subject to the background knowledge, interest and rate of progress.

Assessment Mechanism

The table below summarizes the contribution of each assessment element to the overall grade. The instructor reserves the right to make minor adjustments as necessary.

  Proportion Duration (min) Date
Midterm Exam 35% 50 6 March
Final Exam 35% 180 8 May
Project intro., related work 5%   17 Feb
Project final report 15%   1 May
Presentations 10% 15 + 5 See lecture dates

The midterm and final exams are closed book, closed notes and will require handwritten answers. The midterm will cover the first half of the material and final will cover all the material. Each student will do a conference style presentation (15 minutes with 5 minutes for questions) of a conference paper related to the course material during the last weeks of class.

During the lectures example exam questions will be covered that will not be in the notes. Attendance at the student presentations is required. Attendance will be taken.


The project report should be similar to a conference paper as submitted to IROS, ICRA, CVPR etc. The format should be eight pages double column and should adhere to the IEEE conference paper template. For an example outline of scientific paper see PaperStructure.

The introduction, related work and background material sections should be submitted by email as a pdf attachment by 23:59 17 Feb. Loss of 1% of entire course grade per day late. Please make sure the size of the pdf is below 10Mb reduce resolution or quality of images as necessary. Run pdffonts on the pdf file to check that all fonts are embedded and subsetted as per IEEE submission FAQS.

The value of our courses, grades, degrees and research findings are dependent upon adherence to standards of ethical conduct. Projects will be checked for originality by submitting to a web service which searches for duplication of report sections with material available on the web, or previously submitted to this service for originality analysis.

Relevant Software Libraries and Tools

Related Reading

Related courses

Much of the lecture material is based on Peter Scott's previous course CSE668 which he most generously donated.


See the following appropriate UB policy links.

Academic Integrity