|
UCSD ECE276A: Sensing & Estimation in Robotics (Winter 2026)
| Date | Lecture | Material | Assignment |
| Jan 05 | Introduction | Matrix-calculus | |
| Jan 07 | Unconstrained Optimization | Barfoot-Ch.4.3.1 | |
| Jan 12 | Rotations | Barfoot-Ch.6.1-6.3 | |
| Jan 14 | Rotations | | HW1, PR1 |
| Jan 19 | Robot Motion and Observation Models | Barfoot-Ch.6.4 | |
| Jan 21 | Robot Motion and Observation Models | | |
| Jan 26 | Factor Graph SLAM | Dellaert-Kaess Ch.1, Ch.2 | |
| Jan 28 | Localization and Odometry from Point Features | Ma-Kosecka-Soatto-Sastry Ch. 5 | |
| Feb 02 | Localization and Odometry from Point Features | | |
| Feb 04 | Bayes Filter | Barfoot-Ch.4.2 | HW2, PR2 |
| Feb 09 | Bayes Filter | | |
| Feb 11 | Particle Filter SLAM | Thrun-Burgard-Fox Ch.7, Ch.8, Ch.9 | |
| Feb 16 | Particle Filter SLAM | | |
| Feb 18 | Kalman Filter | Barfoot-Ch.3.3, Sarkka-Ch4 | |
| Feb 23 | EKF, UKF | Barfoot-Ch.4.2, Sarkka-Ch5 | |
| Feb 25 | EKF, UKF | | HW3, PR3 |
| Mar 02 | Matrix Lie Groups | Barfoot-Ch.7.1-7.2, Boumal-Ch.3 | |
| Mar 04 | Visual-Inertial SLAM | | |
| Mar 09 | Visual Features | Image-Features | |
| Mar 11 | Dense Mapping | | |
| Mar 16 | Final Exam | |
|
|