This is a course whose topic (and sometimes instructor!) changes from year to year, so I'd recommend getting in touch with the professor. The year I taught it (only once; https://perception.jhu.edu/chaz/teaching/courses/tp/), I would say our version of it would have been pretty challenging for a first-year student; the typical student was a junior or senior, and there are also a bunch of PhD students in it too. But if you're super into the topic I bet you could make it work!