Search result: Catalogue data in Spring Semester 2020

Electrical Engineering and Information Technology Master Information
Master Studies (Programme Regulations 2018)
Signal Processing and Machine Learning
The core courses and specialization courses below are a selection for students who wish to specialize in the area of "Signal Processing and Machine Learning ", see Link.

The individual study plan is subject to the tutor's approval.
Core Courses
These core courses are particularly recommended for the field of "Signal Processing and Machine Learning".
You may choose core courses form other fields in agreement with your tutor.

A minimum of 24 credits must be obtained from core courses during the MSc EEIT.
Foundation Core Courses
NumberTitleTypeECTSHoursLecturers
252-0220-00LIntroduction to Machine Learning Information Restricted registration - show details
Limited number of participants. Preference is given to students in programmes in which the course is being offered. All other students will be waitlisted. Please do not contact Prof. Krause for any questions in this regard. If necessary, please contact Link
W8 credits4V + 2U + 1AA. Krause
AbstractThe course introduces the foundations of learning and making predictions based on data.
ObjectiveThe course will introduce the foundations of learning and making predictions from data. We will study basic concepts such as trading goodness of fit and model complexitiy. We will discuss important machine learning algorithms used in practice, and provide hands-on experience in a course project.
Content- Linear regression (overfitting, cross-validation/bootstrap, model selection, regularization, [stochastic] gradient descent)
- Linear classification: Logistic regression (feature selection, sparsity, multi-class)
- Kernels and the kernel trick (Properties of kernels; applications to linear and logistic regression); k-nearest neighbor
- Neural networks (backpropagation, regularization, convolutional neural networks)
- Unsupervised learning (k-means, PCA, neural network autoencoders)
- The statistical perspective (regularization as prior; loss as likelihood; learning as MAP inference)
- Statistical decision theory (decision making based on statistical models and utility functions)
- Discriminative vs. generative modeling (benefits and challenges in modeling joint vy. conditional distributions)
- Bayes' classifiers (Naive Bayes, Gaussian Bayes; MLE)
- Bayesian approaches to unsupervised learning (Gaussian mixtures, EM)
LiteratureTextbook: Kevin Murphy, Machine Learning: A Probabilistic Perspective, MIT Press
Prerequisites / NoticeDesigned to provide a basis for following courses:
- Advanced Machine Learning
- Deep Learning
- Probabilistic Artificial Intelligence
- Seminar "Advanced Topics in Machine Learning"
Advanced Core Courses
NumberTitleTypeECTSHoursLecturers
227-0434-10LMathematics of Information Information W8 credits3V + 2U + 2AH. Bölcskei
AbstractThe class focuses on mathematical aspects of

1. Information science: Sampling theorems, frame theory, compressed sensing, sparsity, super-resolution, spectrum-blind sampling, subspace algorithms, dimensionality reduction

2. Learning theory: Approximation theory, uniform laws of large numbers, Rademacher complexity, Vapnik-Chervonenkis dimension
ObjectiveThe aim of the class is to familiarize the students with the most commonly used mathematical theories in data science, high-dimensional data analysis, and learning theory. The class consists of the lecture, exercise sessions with homework problems, and of a research project, which can be carried out either individually or in groups. The research project consists of either 1. software development for the solution of a practical signal processing or machine learning problem or 2. the analysis of a research paper or 3. a theoretical research problem of suitable complexity. Students are welcome to propose their own project at the beginning of the semester. The outcomes of all projects have to be presented to the entire class at the end of the semester.
ContentMathematics of Information

1. Signal representations: Frame theory, wavelets, Gabor expansions, sampling theorems, density theorems

2. Sparsity and compressed sensing: Sparse linear models, uncertainty relations in sparse signal recovery, matching pursuits, super-resolution, spectrum-blind sampling, subspace algorithms (MUSIC, ESPRIT, matrix pencil), estimation in the high-dimensional noisy case, Lasso

3. Dimensionality reduction: Random projections, the Johnson-Lindenstrauss Lemma

Mathematics of Learning

4. Approximation theory: Nonlinear approximation theory, fundamental limits on compressibility of signal classes, Kolmogorov-Tikhomirov epsilon-entropy of signal classes, optimal compression of signal classes, recovery from incomplete data, information-based complexity, curse of dimensionality

5. Uniform laws of large numbers: Rademacher complexity, Vapnik-Chervonenkis dimension, classes with polynomial discrimination, blessings of dimensionality
Lecture notesDetailed lecture notes will be provided at the beginning of the semester and as we go along.
Prerequisites / NoticeThis course is aimed at students with a background in basic linear algebra, analysis, statistics, and probability.

We encourage students who are interested in mathematical data science to take both this course and "401-4944-20L Mathematics of Data Science" by Prof. A. Bandeira. The two courses are designed to be complementary.

H. Bölcskei and A. Bandeira
227-0391-00LMedical Image Analysis
Basic knowledge of computer vision would be helpful.
W3 credits2GE. Konukoglu, M. A. Reyes Aguirre
AbstractIt is the objective of this lecture to introduce the basic concepts used
in Medical Image Analysis. In particular the lecture focuses on shape
representation schemes, segmentation techniques, machine learning based predictive models and various image registration methods commonly used in Medical Image Analysis applications.
ObjectiveThis lecture aims to give an overview of the basic concepts of Medical Image Analysis and its application areas.
Prerequisites / NoticePrerequisites:
Basic concepts of mathematical analysis and linear algebra.

Preferred:
Basic knowledge of computer vision and machine learning would be helpful.

The course will be held in English.
401-4944-20LMathematics of Data ScienceW8 credits4GA. Bandeira
AbstractMostly self-contained, but fast-paced, introductory masters level course on various theoretical aspects of algorithms that aim to extract information from data.
ObjectiveIntroduction to various mathematical aspects of Data Science.
ContentThese topics lie in overlaps of (Applied) Mathematics with: Computer Science, Electrical Engineering, Statistics, and/or Operations Research. Each lecture will feature a couple of Mathematical Open Problem(s) related to Data Science. The main mathematical tools used will be Probability and Linear Algebra, and a basic familiarity with these subjects is required. There will also be some (although knowledge of these tools is not assumed) Graph Theory, Representation Theory, Applied Harmonic Analysis, among others. The topics treated will include Dimension reduction, Manifold learning, Sparse recovery, Random Matrices, Approximation Algorithms, Community detection in graphs, and several others.
Lecture notesLink
Prerequisites / NoticeThe main mathematical tools used will be Probability, Linear Algebra (and real analysis), and a working knowledge of these subjects is required. In addition
to these prerequisites, this class requires a certain degree of mathematical maturity--including abstract thinking and the ability to understand and write proofs.


We encourage students who are interested in mathematical data science to take both this course and ``227-0434-10L Mathematics of Information'' taught by Prof. H. Bölcskei. The two courses are designed to be
complementary.
A. Bandeira and H. Bölcskei
Specialization Courses
These specialization courses are particularly recommended for the area of "Signal Processing and Machine Learning", but you are free to choose courses from any other field in agreement with your tutor.

A minimum of 40 credits must be obtained from specialization courses during the MSc EEIT.
NumberTitleTypeECTSHoursLecturers
227-0120-00LCommunication Networks Information W6 credits4GL. Vanbever
AbstractAt the end of this course, you will understand the fundamental concepts behind communication networks and the Internet. Specifically, you will be able to:

- understand how the Internet works;
- build and operate Internet-like infrastructures;
- identify the right set of metrics to evaluate the performance of a network and propose ways to improve it.
ObjectiveAt the end of the course, the students will understand the fundamental concepts of communication networks and Internet-based communications. Specifically, students will be able to:

- understand how the Internet works;
- build and operate Internet-like network infrastructures;
- identify the right set of metrics to evaluate the performance or the adequacy of a network and propose ways to improve it (if any).

The course will introduce the relevant mechanisms used in today's networks both from an abstract perspective but also from a practical one by presenting many real-world examples and through multiple hands-on projects.

For more information about the lecture, please visit: Link
Lecture notesLecture notes and material for the course will be available before each course on: Link
LiteratureMost of course follows the textbook "Computer Networking: A Top-Down Approach (6th Edition)" by Kurose and Ross.
Prerequisites / NoticeNo prior networking background is needed. The course will include some programming assignments (in Python) for which the material covered in Technische Informatik 1 (227-0013-00L) and Technische Informatik 2 (227-0014-00L) will be useful.
227-0147-00LVLSI II: Design of Very Large Scale Integration Circuits Information W6 credits5GF. K. Gürkaynak, L. Benini
AbstractThis second course in our VLSI series is concerned with how to turn digital circuit netlists into safe, testable and manufacturable mask layout, taking into account various parasitic effects. Low-power circuit design is another important topic. Economic aspects and management issues of VLSI projects round off the course.
ObjectiveKnow how to design digital VLSI circuits that are safe, testable, durable, and make economic sense.
ContentThe second course begins with a thorough discussion of various technical aspects at the circuit and layout level before moving on to economic issues of VLSI. Topics include:
- The difficulties of finding fabrication defects in large VLSI chips.
- How to make integrated circuit testable (design for test).
- Synchronous clocking disciplines compared, clock skew, clock distribution, input/output timing.
- Synchronization and metastability.
- CMOS transistor-level circuits of gates, flip-flops and random access memories.
- Sinks of energy in CMOS circuits.
- Power estimation and low-power design.
- Current research in low-energy computing.
- Layout parasitics, interconnect delay, static timing analysis.
- Switching currents, ground bounce, IR-drop, power distribution.
- Floorplanning, chip assembly, packaging.
- Layout design at the mask level, physical design verification.
- Electromigration, electrostatic discharge, and latch-up.
- Models of industrial cooperation in microelectronics.
- The caveats of virtual components.
- The cost structures of ASIC development and manufacturing.
- Market requirements, decision criteria, and case studies.
- Yield models.
- Avenues to low-volume fabrication.
- Marketing considerations and case studies.
- Management of VLSI projects.

Exercises are concerned with back-end design (floorplanning, placement, routing, clock and power distribution, layout verification). Industrial CAD tools are being used.
Lecture notesH. Kaeslin: "Top-Down Digital VLSI Design, from Gate-Level Circuits to CMOS Fabrication", Lecture Notes Vol.2 , 2015.

All written documents in English.
LiteratureH. Kaeslin: "Top-Down Digital VLSI Design, from Architectures to Gate-Level Circuits and FPGAs", Elsevier, 2014, ISBN 9780128007303.
Prerequisites / NoticeHighlight:
Students are offered the opportunity to design a circuit of their own which then gets actually fabricated as a microchip! Students who elect to participate in this program register for a term project at the Integrated Systems Laboratory in parallel to attending the VLSI II course.

Prerequisites:
"VLSI I: from Architectures to Very Large Scale Integration Circuits and FPGAs" or equivalent knowledge.

Further details:
Link
227-0418-00LAlgebra and Error Correcting Codes Information W6 credits4GH.‑A. Loeliger
AbstractThe course is an introduction to error correcting codes covering both classical algebraic codes and modern iterative decoding. The course includes a self-contained introduction of the pertinent basics of "abstract" algebra.
ObjectiveThe course is an introduction to error correcting codes covering both classical algebraic codes and modern iterative decoding. The course includes a self-contained introduction of the pertinent basics of "abstract" algebra.
ContentError correcting codes: coding and modulation, linear codes, Hamming space codes, Euclidean space codes, trellises and Viterbi decoding, convolutional codes, factor graphs and message passing algorithms, low-density parity check codes, turbo codes, polar codes, Reed-Solomon codes.

Algebra: groups, rings, homomorphisms, quotient groups, ideals, finite fields, vector spaces, polynomials.
Lecture notesLecture Notes (english)
227-0150-00LSystems-on-chip for Data Analytics and Machine Learning
Previously "Energy-Efficient Parallel Computing Systems for Data Analytics"
W6 credits4GL. Benini
AbstractSystems-on-chip architecture and related design issues with a focus on machine learning and data analytics applications. It will cover multi-cores, many-cores, vector engines, GP-GPUs, application-specific processors and heterogeneous compute accelerators. Special emphasis given to energy-efficiency issues and hardware-software techniques for power and energy minimization.
ObjectiveGive in-depth understanding of the links and dependencies between architectures and their energy-efficient implementation and to get a comprehensive exposure to state-of-the-art systems-on-chip platforms for machine learning and data analytics. Practical experience will also be gained through practical exercises and mini-projects (hardware and software) assigned on specific topics.
ContentThe course will cover advanced system-on-chip architectures, with an in-depth view on design challenges related to advanced silicon technology and state-of-the-art system integration options (nanometer silicon technology, novel storage devices, three-dimensional integration, advanced system packaging). The emphasis will be on programmable parallel architectures with application focus on machine learning and data analytics. The main SoC architectural families will be covered: namely, multi and many- cores, GPUs, vector accelerators, application-specific processors, heterogeneous platforms. The course will cover the complex design choices required to achieve scalability and energy proportionality. The course will will also delve into system design, touching on hardware-software tradeoffs and full-system analysis and optimization taking into account non-functional constraints and quality metrics, such as power consumption, thermal dissipation, reliability and variability. The application focus will be on machine learning both in the cloud and at the edges (near-sensor analytics).
Lecture notesSlides will be provided to accompany lectures. Pointers to scientific literature will be given. Exercise scripts and tutorials will be provided.
LiteratureJohn L. Hennessy, David A. Patterson, Computer Architecture: A Quantitative Approach (The Morgan Kaufmann Series in Computer Architecture and Design) 6th Edition, 2017.
Prerequisites / NoticeKnowledge of digital design at the level of "Design of Digital Circuits SS12" is required.

Knowledge of basic VLSI design at the level of "VLSI I: Architectures of VLSI Circuits" is required
227-0155-00LMachine Learning on Microcontrollers Restricted registration - show details
Registration in this class requires the permission of the instructors. Class size will be limited to 30.
Preference is given to students in the MSc EEIT.
W6 credits3G + 2AM. Magno, L. Benini
AbstractMachine Learning (ML) and artificial intelligence are pervading the digital society. Today, even low power embedded systems are incorporating ML, becoming increasingly “smart”. This lecture gives an overview of ML methods and algorithms to process and extract useful near-sensor information in end-nodes of the “internet-of-things”, using low-power microcontrollers/ processors (ARM-Cortex-M; RISC-V)
ObjectiveLearn how to Process data from sensors and how to extract useful information with low power microprocessors using ML techniques. We will analyze data coming from real low-power sensors (accelerometers, microphones, ExG bio-signals, cameras…). The main objective is to study in details how Machine Learning algorithms can be adapted to the performance constraints and limited resources of low-power microcontrollers.
ContentThe final goal of the course is a deep understanding of machine learning and its practical implementation on single- and multi-core microcontrollers, coupled with performance and energy efficiency analysis and optimization. The main topics of the course include:

- Sensors and sensor data acquisition with low power embedded systems

- Machine Learning: Overview of supervised and unsupervised learning and in particular supervised learning (Bayes Decision Theory, Decision Trees, Random Forests, kNN-Methods, Support Vector Machines, Convolutional Networks and Deep Learning)

- Low-power embedded systems and their architecture. Low Power microcontrollers (ARM-Cortex M) and RISC-V-based Parallel Ultra Low Power (PULP) systems-on-chip.

- Low power smart sensor system design: hardware-software tradeoffs, analysis, and optimization. Implementation and performance evaluation of ML in battery-operated embedded systems.

The laboratory exercised will show how to address concrete design problems, like motion, gesture recognition, emotion detection, image and sound classification, using real sensors data and real MCU boards.

Presentations from Ph.D. students and the visit to the Digital Circuits and Systems Group will introduce current research topics and international research projects.
Lecture notesScript and exercise sheets. Books will be suggested during the course.
Prerequisites / NoticePrerequisites: Good experience in C language programming. Microprocessors and computer architecture. Basics of Digital Signal Processing. Some exposure to machine learning concepts is also desirable.
227-0384-00LUltrasound Fundamentals, Imaging, and Medical Applications
Course is offered for the last time in Spring Semester 2020.
W4 credits3GO. Göksel
AbstractUltrasound is the only imaging modality that is nonionizing (safe), real-time, cost-effective, and portable, with many medical uses in diagnosis, intervention guidance, surgical navigation, and as a therapeutic option. In this course, we introduce conventional and prospective applications of ultrasound, starting with the fundamentals of ultrasound physics and imaging.
ObjectiveStudents can use the fundamentals of ultrasound, to analyze and evaluate ultrasound imaging techniques and applications, in particular in the field of medicine, as well as to design and implement basic applications.
ContentUltrasound is used in wide range of products, from car parking sensors, to assessing fault lines in tram wheels. Medical imaging is the eye of the doctor into body; and ultrasound is the only imaging modality that is nonionizing (safe), real-time, cheap, and portable. Some of its medical uses include diagnosing breast and prostate cancer, guiding needle insertions/biopsies, screening for fetal anomalies, and monitoring cardiac arrhythmias. Ultrasound physically interacts with the tissue, and thus can also be used therapeutically, e.g., to deliver heat to treat tumors, break kidney stones, and targeted drug delivery. Recent years have seen several novel ultrasound techniques and applications – with many more waiting in the horizon to be discovered.

This course covers ultrasonic equipment, physics of wave propagation, numerical methods for its simulation, image generation, beamforming (basic delay-and-sum and advanced methods), transducers (phased-, linear-, convex-arrays), near- and far-field effect, imaging modes (e.g., A-, M-, B-mode), Doppler and harmonic imaging, ultrasound signal processing techniques (e.g., filtering, time-gain-compensation, displacement tracking), image analysis techniques (deconvolution, real-time processing, tracking, segmentation, computer-assisted interventions), acoustic-radiation force, plane-wave imaging, contrast agents, micro-bubbles, elastography, biomechanical characterization, high-intensity focused ultrasound and therapy, lithotripsy, histotripsy, photo-acoustics phenomenon and opto-acoustic imaging, as well as sample non-medical applications such as the basics of non-destructive testing (NDT).

Hands-on exercises: These will help to apply the concepts learned in the course, using simulation environments (such as Matlab k-Wave and FieldII toolboxes). The exercises will involve a mix of design, implementation, and evaluation examples commonly encountered in practical applications.

Project: Current and relevant applications in the field of ultrasound are offered as project topics. Projects will be carried out throughout the course, where the project reporting and presentations will be due towards the end of the semester. These will be part of the assessment in grading.
Prerequisites / NoticePrerequisites: Familiarity with basic numerical methods.
Basic programming skills in Matlab.
227-0436-00LDigital Communication and Signal ProcessingW6 credits2V + 2UA. Wittneben
AbstractA comprehensive presentation of modern digital modulation, detection and synchronization schemes and relevant aspects of signal processing enables the student to analyze, simulate, implement and research the physical layer of advanced digital communication schemes. The course both covers the underlying theory and provides problem solving and hands-on experience.
ObjectiveDigital communication systems are characterized by ever increasing requirements on data rate, spectral efficiency and reliability. Due to the huge advances in very large scale integration (VLSI) we are now able to implement extremely complex digital signal processing algorithms to meet these challenges. As a result the physical layer (PHY) of digital communication systems has become the dominant function in most state-of-the-art system designs. In this course we discuss the major elements of PHY implementations in a rigorous theoretical fashion and present important practical examples to illustrate the application of the theory. In Part I we treat discrete time linear adaptive filters, which are a core component to handle multiuser and intersymbol interference in time-variant channels. Part II is a seminar block, in which the students develop their analytical and experimental (simulation) problem solving skills. After a review of major aspects of wireless communication we discuss, simulate and present the performance of novel cooperative and adaptive multiuser wireless communication systems. As part of this seminar each students has to give a 15 minute presentation and actively attends the presentations of the classmates. In Part III we cover parameter estimation and synchronization. Based on the classical discrete detection and estimation theory we develop maximum likelihood inspired digital algorithms for symbol timing and frequency synchronization.
ContentPart I: Linear adaptive filters for digital communication
• Finite impulse response (FIR) filter for temporal and spectral shaping
• Wiener filters
• Method of steepest descent
• Least mean square adaptive filters

Part II: Seminar block on cooperative wireless communication
• review of the basic concepts of wireless communication
• multiuser amplify&forward relaying
• performance evaluation of adaptive A&F relaying schemes and student presentations

Part III: Parameter estimation and synchronization
• Discrete detection theory
• Discrete estimation theory
• Synthesis of synchronization algorithms
• Frequency estimation
• Timing adjustment by interpolation
Lecture notesLecture notes.
Literature[1] Oppenheim, A. V., Schafer, R. W., "Discrete-time signal processing", Prentice-Hall, ISBN 0-13-754920-2.
[2] Haykin, S., "Adaptive filter theory", Prentice-Hall, ISBN 0-13-090126-1.
[3] Van Trees, H. L., "Detection , estimation and modulation theory", John Wiley&Sons, ISBN 0-471-09517-6.
[4] Meyr, H., Moeneclaey, M., Fechtel, S. A., "Digital communication receivers: synchronization, channel estimation and signal processing", John Wiley&Sons, ISBN 0-471-50275-8.
Prerequisites / NoticeFormal prerequisites: none
Recommended: Communication Systems or equivalent
227-0478-00LAcoustics II Information W6 credits4GK. Heutschi
AbstractAdvanced knowledge of the functioning and application of electro-acoustic transducers.
ObjectiveAdvanced knowledge of the functioning and application of electro-acoustic transducers.
ContentElectrical, mechanical and acoustical analogies. Transducers, microphones and loudspeakers, acoustics of musical instruments, sound recording, sound reproduction, digital audio.
Lecture notesavailable
227-0558-00LPrinciples of Distributed Computing Information W7 credits2V + 2U + 2AR. Wattenhofer, M. Ghaffari
AbstractWe study the fundamental issues underlying the design of distributed systems: communication, coordination, fault-tolerance, locality, parallelism, self-organization, symmetry breaking, synchronization, uncertainty. We explore essential algorithmic ideas and lower bound techniques.
ObjectiveDistributed computing is essential in modern computing and communications systems. Examples are on the one hand large-scale networks such as the Internet, and on the other hand multiprocessors such as your new multi-core laptop. This course introduces the principles of distributed computing, emphasizing the fundamental issues underlying the design of distributed systems and networks: communication, coordination, fault-tolerance, locality, parallelism, self-organization, symmetry breaking, synchronization, uncertainty. We explore essential algorithmic ideas and lower bound techniques, basically the "pearls" of distributed computing. We will cover a fresh topic every week.
ContentDistributed computing models and paradigms, e.g. message passing, shared memory, synchronous vs. asynchronous systems, time and message complexity, peer-to-peer systems, small-world networks, social networks, sorting networks, wireless communication, and self-organizing systems.

Distributed algorithms, e.g. leader election, coloring, covering, packing, decomposition, spanning trees, mutual exclusion, store and collect, arrow, ivy, synchronizers, diameter, all-pairs-shortest-path, wake-up, and lower bounds
Lecture notesAvailable. Our course script is used at dozens of other universities around the world.
LiteratureLecture Notes By Roger Wattenhofer. These lecture notes are taught at about a dozen different universities through the world.

Distributed Computing: Fundamentals, Simulations and Advanced Topics
Hagit Attiya, Jennifer Welch.
McGraw-Hill Publishing, 1998, ISBN 0-07-709352 6

Introduction to Algorithms
Thomas Cormen, Charles Leiserson, Ronald Rivest.
The MIT Press, 1998, ISBN 0-262-53091-0 oder 0-262-03141-8

Disseminatin of Information in Communication Networks
Juraj Hromkovic, Ralf Klasing, Andrzej Pelc, Peter Ruzicka, Walter Unger.
Springer-Verlag, Berlin Heidelberg, 2005, ISBN 3-540-00846-2

Introduction to Parallel Algorithms and Architectures: Arrays, Trees, Hypercubes
Frank Thomson Leighton.
Morgan Kaufmann Publishers Inc., San Francisco, CA, 1991, ISBN 1-55860-117-1

Distributed Computing: A Locality-Sensitive Approach
David Peleg.
Society for Industrial and Applied Mathematics (SIAM), 2000, ISBN 0-89871-464-8
Prerequisites / NoticeCourse pre-requisites: Interest in algorithmic problems. (No particular course needed.)
227-0560-00LDeep Learning for Autonomous Driving Information Restricted registration - show details
Registration in this class requires the permission of the instructors. Class size will be limited to 80 students.
Preference is given to EEIT, INF and RSC students.
W6 credits3V + 2PD. Dai, A. Liniger
AbstractAutonomous driving has moved from the realm of science fiction to a very real possibility during the past twenty years, largely due to rapid developments of deep learning approaches, automotive sensors, and microprocessor capacity. This course covers the core techniques required for building a self-driving car, especially the practical use of deep learning through this theme.
ObjectiveStudents will learn about the fundamental aspects of a self-driving car. They will also learn to use modern automotive sensors and HD navigational maps, and to implement, train and debug their own deep neural networks in order to gain a deep understanding of cutting-edge research in autonomous driving tasks, including perception, localization and control.

After attending this course, students will:
1) understand the core technologies of building a self-driving car;
2) have a good overview over the current state of the art in self-driving cars;
3) be able to critically analyze and evaluate current research in this area;
4) be able to implement basic systems for multiple autonomous driving tasks.
ContentWe will focus on teaching the following topics centered on autonomous driving: deep learning, automotive sensors, multimodal driving datasets, road scene perception, ego-vehicle localization, path planning, and control.

The course covers the following main areas:

I) Foundation
a) Fundamentals of a self-driving car
b) Fundamentals of deep-learning


II) Perception
a) Semantic segmentation and lane detection
b) Depth estimation with images and sparse LiDAR data
c) 3D object detection with images and LiDAR data
d) Object tracking and motion prediction

III) Localization
a) GPS-based and Vision-based Localization
b) Visual Odometry and Lidar Odometry

IV) Path Planning and Control
a) Path planning for autonomous driving
b) Motion planning and vehicle control
c) Imitation learning and reinforcement learning for self driving cars

The exercise projects will involve training complex neural networks and applying them on real-world, multimodal driving datasets. In particular, students should be able to develop systems that deal with the following problems:
- Sensor calibration and synchronization to obtain multimodal driving data;
- Semantic segmentation and depth estimation with deep neural networks ;
- Learning to drive with images and map data directly (a.k.a. end-to-end driving)
Lecture notesThe lecture slides will be provided as a PDF.
Prerequisites / NoticeThis is an advanced grad-level course. Students must have taken courses on machine learning and computer vision or have acquired equivalent knowledge. Students are expected to have a solid mathematical foundation, in particular in linear algebra, multivariate calculus, and probability. All practical exercises will require basic knowledge of Python and will use libraries such as PyTorch, scikit-learn and scikit-image.
227-0707-00LOptimization Methods for EngineersW3 credits2GP. Leuchtmann
AbstractFirst half of the semester: Introduction to the main methods of numerical optimization with focus on stochastic methods such as genetic algorithms, evolutionary strategies, etc.
Second half of the semester: Each participant implements a selected optimizer and applies it on a problem of practical interest.
ObjectiveNumerical optimization is of increasing importance for the development of devices and for the design of numerical methods. The students shall learn to select, improve, and combine appropriate procedures for efficiently solving practical problems.
ContentTypical optimization problems and their difficulties are outlined. Well-known deterministic search strategies, combinatorial minimization, and evolutionary algorithms are presented and compared. In engineering, optimization problems are often very complex. Therefore, new techniques based on the generalization and combination of known methods are discussed. To illustrate the procedure, various problems of practical interest are presented and solved with different optimization codes.
Lecture notesPDF of a short skript (39 pages) plus the view graphs are provided
Prerequisites / NoticeLecture only in the first half of the semester, exercises in form of small projects in the second half, presentation of the results in the last week of the semester.
227-0948-00LMagnetic Resonance Imaging in MedicineW4 credits3GS. Kozerke, M. Weiger Senften
AbstractIntroduction to magnetic resonance imaging and spectroscopy, encoding and contrast mechanisms and their application in medicine.
ObjectiveUnderstand the basic principles of signal generation, image encoding and decoding, contrast manipulation and the application thereof to assess anatomical and functional information in-vivo.
ContentIntroduction to magnetic resonance imaging including basic phenomena of nuclear magnetic resonance; 2- and 3-dimensional imaging procedures; fast and parallel imaging techniques; image reconstruction; pulse sequences and image contrast manipulation; equipment; advanced techniques for identifying activated brain areas; perfusion and flow; diffusion tensor imaging and fiber tracking; contrast agents; localized magnetic resonance spectroscopy and spectroscopic imaging; diagnostic applications and applications in research.
Lecture notesD. Meier, P. Boesiger, S. Kozerke
Magnetic Resonance Imaging and Spectroscopy
227-1032-00LNeuromorphic Engineering II Information
Information for UZH students:
Enrolment to this course unit only possible at ETH. No enrolment to module INI405 at UZH.

Please mind the ETH enrolment deadlines for UZH students: Link
W6 credits5GS.‑C. Liu, T. Delbrück, G. Indiveri
AbstractThis course teaches the basics of analog chip design and layout with an emphasis on neuromorphic circuits, which are introduced in the fall semester course "Neuromorphic Engineering I".
ObjectiveDesign of a neuromorphic circuit for implementation with CMOS technology.
ContentThis course teaches the basics of analog chip design and layout with an emphasis on neuromorphic circuits, which are introduced in the autumn semester course "Neuromorphic Engineering I".

The principles of CMOS processing technology are presented. Using a set of inexpensive software tools for simulation, layout and verification, suitable for neuromorphic circuits, participants learn to simulate circuits on the transistor level and to make their layouts on the mask level. Important issues in the layout of neuromorphic circuits will be explained and illustrated with examples. In the latter part of the semester students simulate and layout a neuromorphic chip. Schematics of basic building blocks will be provided. The layout will then be fabricated and will be tested by students during the following fall semester.
LiteratureS.-C. Liu et al.: Analog VLSI Circuits and Principles; software documentation.
Prerequisites / NoticePrerequisites: Neuromorphic Engineering I strongly recommended
151-0566-00LRecursive Estimation Information W4 credits2V + 1UR. D'Andrea
AbstractEstimation of the state of a dynamic system based on a model and observations in a computationally efficient way.
ObjectiveLearn the basic recursive estimation methods and their underlying principles.
ContentIntroduction to state estimation; probability review; Bayes' theorem; Bayesian tracking; extracting estimates from probability distributions; Kalman filter; extended Kalman filter; particle filter; observer-based control and the separation principle.
Lecture notesLecture notes available on course website: Link
Prerequisites / NoticeRequirements: Introductory probability theory and matrix-vector algebra.
252-0526-00LStatistical Learning Theory Information W7 credits3V + 2U + 1AJ. M. Buhmann, C. Cotrini Jimenez
AbstractThe course covers advanced methods of statistical learning:

- Variational methods and optimization.
- Deterministic annealing.
- Clustering for diverse types of data.
- Model validation by information theory.
ObjectiveThe course surveys recent methods of statistical learning. The fundamentals of machine learning, as presented in the courses "Introduction to Machine Learning" and "Advanced Machine Learning", are expanded from the perspective of statistical learning.
Content- Variational methods and optimization. We consider optimization approaches for problems where the optimizer is a probability distribution. We will discuss concepts like maximum entropy, information bottleneck, and deterministic annealing.

- Clustering. This is the problem of sorting data into groups without using training samples. We discuss alternative notions of "similarity" between data points and adequate optimization procedures.

- Model selection and validation. This refers to the question of how complex the chosen model should be. In particular, we present an information theoretic approach for model validation.

- Statistical physics models. We discuss approaches for approximately optimizing large systems, which originate in statistical physics (free energy minimization applied to spin glasses and other models). We also study sampling methods based on these models.
Lecture notesA draft of a script will be provided. Lecture slides will be made available.
LiteratureHastie, Tibshirani, Friedman: The Elements of Statistical Learning, Springer, 2001.

L. Devroye, L. Gyorfi, and G. Lugosi: A probabilistic theory of pattern recognition. Springer, New York, 1996
Prerequisites / NoticeKnowledge of machine learning (introduction to machine learning and/or advanced machine learning)
Basic knowledge of statistics.
252-0579-00L3D Vision Information W5 credits3G + 1AM. Pollefeys, V. Larsson
AbstractThe course covers camera models and calibration, feature tracking and matching, camera motion estimation via simultaneous localization and mapping (SLAM) and visual odometry (VO), epipolar and mult-view geometry, structure-from-motion, (multi-view) stereo, augmented reality, and image-based (re-)localization.
ObjectiveAfter attending this course, students will:
1. understand the core concepts for recovering 3D shape of objects and scenes from images and video.
2. be able to implement basic systems for vision-based robotics and simple virtual/augmented reality applications.
3. have a good overview over the current state-of-the art in 3D vision.
4. be able to critically analyze and asses current research in this area.
ContentThe goal of this course is to teach the core techniques required for robotic and augmented reality applications: How to determine the motion of a camera and how to estimate the absolute position and orientation of a camera in the real world. This course will introduce the basic concepts of 3D Vision in the form of short lectures, followed by student presentations discussing the current state-of-the-art. The main focus of this course are student projects on 3D Vision topics, with an emphasis on robotic vision and virtual and augmented reality applications.
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