Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality


Tracking and Detection in Computer Vision - Winter Term 2019/20

Administrative Info

Lecture by Dr. Slobodan Ilic
Exercises by: Mai Bui, Mahdi Hamad, Ivan Shugurov, Agnieszka Tomczak

Type: Lecture Module IN2210
Programs: Informatics (Bachelor, Master)
Biomedical Computing (Master)
Robotics, Cognition, Intelligence(Master)
SWS: 2+4
ECTS: 7 Credits
Course Language: English

Time, Location & Requirements

Lectures: Mondays, from 14.10.19 at 14:00-16:00h at 00.13.009A.

Exercises: Thursdays, from 17.10.19 at 14:00-16:00h at 00.13.009A.


  • The classes and exams are in English.
  • For the midterm exam, nothing but your pens and your calculators are allowed.
  • For the final exam, nothing but your pens, your calculators and one DIN A4 page (handwritten, front and back side) with notes are allowed.
  • There is no repetition exam.



Computer Vision has emerged as a key discipline in computer science. This is not only evident by a growing and highly competitive research community with a high impact factor in computer science, but also by the emergence of numerous vision companies turning research ideas into a myriad of commercial applications. Besides well-known studies of 3D geometry and camera models, object tracking and detection in images and videos becomes one of the principal research directions of modern Computer Vision. The main objective of this course is to provide students with a gradual introduction to modern tracking, detection and recognition techniques developed in the last years. The course will provide in-depth knowledge of image features, their detection and description, matching techniques, key-point recognition, basic and advanced tracking algorithms based on image features and image intensities. The course will address both hand crafted features and learned features with deep learning approaches. So it will be mixture of established ane emerging methods for object detection, recognition, pose estimation and tracking.

In the end, the students will have a thorough description of the most important tracking and detection techniques. They should be able to understand and implement those solutions and apply them in reasonably complex problems. The concepts described in this course will be accompanied with brief explanations of the necessary mathematical tools. The participants of this course will be given an important basis to follow the vast and growing Computer Vision literature and use the acquired knowledge to solve new practical problems.

Who should attend this course?

Bachelor students in their last years and all Master students that are interested in learning about the modern and well-established concepts and algorithms related to tracking, detection and recognition in Computer Vision, or desire to use those techniques in their research.

Prerequisites: Most of the knowledge required should be part of the normal background in Computer Science, undergraduate/graduate Mathematics and Geometry.


Exercise projects

The project will be done in MATLAB, C++ and Python and students are expected to do them on their own computer/laptop. They will consist of three projects that will include one or several topics presented at the lectures. The projects will be presented to the students during the exercise sessions, where they will be instructed how to do the projects. Each project is divided into a number of exercises and each of them corresponds to a homework which will be graded. In total all homework exercises will result in one exercise grade. The deadlines for the submissions of the results of the homeworks will be announced via Moodle.

Students have to make groups of up to FOUR students. If you are looking for a (TDCV) partner tell us and we will assign you one!

During the the presentation of the results for each project each group will have 5 min to present their solution in terms of slides, and also run the code live. This will be followed by questions from the tutors (~ 5min). All members of the group will be questioned about the algorithms and their implementation, so only those who can prove that they understood both theory and practice will get the respective points. Thus, having a working exercise doesn't mean that everyone in the group is going to get full points. Please note that only exercises which work might get the maximal number of points. There will be no "debugging-correcting"-sessions for your solutions during the project results presentation! If you have questions, ask them beforehand during the exercise sessions.

You can also find a short MATLAB tutorial here.


You are required to register via TUMOnline!


For some basic concepts the textbook "Computer Vision: a modern approach" by David Forsyth and Jean Ponce can be used. Also, most topics can be found in a new book of Rick Szeliski from Microsoft Research, available also on-line. For machine learning topics it is recommended to use the book of Christopher Bishop, Pattern Recognition and Machine Learning. And for deep learning, the Stanford course on CNNs available on-line. . However, since the majority of the topics is state-of-the-art, students will be referred to the relevant publications which will be provided during the course and can be regarded as additional lecture notes.

Lecture Schedule and Content

Date Topic Conducted by Material/Literature
14.10. Introduction Dr. S. Ilic  
21.10. Camera Models Dr. S. Ilic  
28.10. No Lecture Dr. S. Ilic  
04.11. Pose Estimation from 2D-3D correspondences Dr. S. Ilic  
11.11. Rotation parameterization Dr. S. Ilic  
18.11. Non-linear optimization, RANSAC Dr. S. Ilic  
25.11. Convolutions, Filtering, Edge Detection Dr. S. Ilic  
02.12. Feature detection and description Dr. S. Ilic  
09.12. Keypoint recognition, Random Forests Dr. S. Ilic  
16.12. Deep Learning Dr. S. Ilic  
23.12. No Lecture Dr. S. Ilic  
13.01. Deep Learning Dr. S. Ilic  
20.01. Object Detection with Deep Learning Dr. S. Ilic  
27.01. Object Detection and Pose Estimation Dr. S. Ilic  

Exercise Projects Schedule

If you have questions about a specific exercise, please direct them to the responsible tutor. At the due date the results of the projects will be presented by each group of students followed by the questions of the tutors. The students should be ready to run the code after their presentation as well as show parts of the code and be prepared to answer the questions about their implementation.

Date Topic Conducted by Material/Literature Sample Output
17.10. Introduction to Tutorials      
24.10. Homework 1.1      
31.10. No Tutorial      
07.11. Homework 1.2.      
14.11. No Tutorial      
21.11. Grading Session Homework 1.1      
28.11 Introduction to OpenCV?, HoG?      
05.12. Midterm      
12.12. Grading Session Homework 1.2      
19.12. Homework 2      
09.01 Grading Session Homework 2      
16.01 Homework 3      
23.01. Q&A Homework 3      
30.01. Grading Session Homework 3      

Title: Tracking and Detection in Computer Vision
Professor: Dr. Slobodan Ilic
Tutors: Mahdi Hamad, Agnieszka Tomczak, Mai Bui
Type: Lecture
Information: 2 + 4; 7 ECTS
Term: 2019WiSe

Edit | Attach | Refresh | Diffs | More | Revision r1.8 - 16 Sep 2019 - 12:03 - MaiBui

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