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UCSD ECE276A: Sensing & Estimation in Robotics (Fall 2017)
| Date | Lecture | Materials | Assignment out/due |
| Oct 02 | Introduction, Color Vision, Matrix Calculus | System-discretization, Matrix-functions, Matrix-calculus | |
| Oct 04 | Probability Theory | Probability-review | P1 |
| Oct 09 | Supervised Learning | Mitchell-NaiveBayesLogReg | |
| Oct 11 | Expectation Maximization | Tomasi-EM | |
| Oct 16 | Catch-up | | |
| Oct 18 | Rigid Body Motion | Rigid-Body-Motion, Quaternion-Dynamics | |
| Oct 23 | Bayes Filter, Kalman Filter | Sarkka-Ch4 | |
| Oct 25 | EKF, UKF | Kraft-UKF, Sarkka-Ch5 | P1, P2 |
| Oct 30 | Projective Geometry, Panorama | | |
| Nov 01 | Motion and Observation Models | Thrun-Ch5, Thrun-Ch6 | |
| Nov 06 | Gaussian Mixture Filter, Particle Filter | Huber-Ch3, Thrun-Ch4 | |
| Nov 08 | Catch-up | | |
| Nov 13 | Particle Filter SLAM | Thrun-SLAM, Thrun-Ch7, Thrun-Ch8 | P3 |
| Nov 15 | Visual Features, Optical Flow | Image-Features, Shi-Good-Features-To-Track | P2 |
| Nov 20 | Localization from Point Features I | | |
| Nov 22 | Localization from Point Features II | | |
| Nov 27 | Robust Estimation: RANSAC, Hough, IRLS | | P4 |
| Nov 29 | Kalman Smoothing and Factor Graphs | | |
| Dec 04 | Kalman Filtering Review | | |
| Dec 06 | Hidden Markov Models | Rabiner-HMM | |
| Dec 11 | | | P3 |
| Dec 16 | | | P4
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