|
UCSD ECE276A: Sensing & Estimation in Robotics (Winter 2025)
| Date | Lecture | Material | Assignment |
| Jan 06 | Introduction | Matrix-calculus | |
| Jan 08 | Unconstrained Optimization | Barfoot-Ch.4.3.1 | |
| Jan 13 | Catch up | | |
| Jan 15 | Rotations | Barfoot-Ch.6.1-6.3 | HW1, PR1 |
| Jan 20 | Catch up | | |
| Jan 22 | Robot Motion and Observation Models | Barfoot-Ch.6.4 | |
| Jan 27 | Catch up | | |
| Jan 29 | Factor Graph SLAM | Dellaert-Kaess Ch.1, Ch.2 | |
| Feb 03 | Localization and Odometry from Point Features | | |
| Feb 05 | Catch up | | HW2, PR2 |
| Feb 10 | Bayes Filter | Barfoot-Ch.4.2 | |
| Feb 12 | Particle Filter SLAM | Thrun-Burgard-Fox Ch.7, Ch.8, Ch.9 | |
| Feb 17 | Catch up | | |
| Feb 19 | Kalman Filter | Barfoot-Ch.3.3, Sarkka-Ch4 | |
| Feb 24 | Catch up | | |
| Feb 26 | EKF, UKF | Barfoot-Ch.4.2, Sarkka-Ch5 | HW3, PR3 |
| Mar 03 | Matrix Lie Groups | Barfoot-Ch.7.1-7.2, Boumal-Ch.3 | |
| Mar 05 | Visual-Inertial SLAM | | |
| Mar 10 | Catch up | | |
| Mar 12 | Visual Features | Image-Features | |
| Mar 17 | Final Exam | |
|
|