|
UCSD ECE276A: Sensing & Estimation in Robotics (Winter 2019)
| Date | Lecture | Materials | Assignments |
| Jan 08 | Introduction | | |
| Jan 10 | Background: Linear Algebra, Probability Theory | Barfoot-Ch2, Matrix-calculus | |
| Jan 15 | Color Vision and Parameter Estimation | | HW1, HW1 Solutions |
| Jan 17 | Supervised Learning | Mitchell-NaiveBayesLogReg | |
| Jan 22 | Catch-up | | |
| Jan 24 | Unsupervised Learning | Tomasi-EM | |
| Jan 29 | Bayes Filter, Particle Filter | Barfoot-Ch4.2 | |
| Jan 31 | Rotations | Barfoot-Ch6.1-6.3 | HW2, HW2 Testset, HW2 Solutions |
| Feb 05 | Motion and Observation Models | Barfoot-Ch6.4 | |
| Feb 07 | Particle Filter SLAM | Thrun-Ch7-9 | |
| Feb 12 | Projective Geometry, Camera Model | Barfoot-Ch6.4 | |
| Feb 14 | Visual Features, Optical Flow | Image-Features, Shi-Good-Features-To-Track | |
| Feb 19 | SE(3) Geometry and Kinematics | Barfoot-Ch7.1-7.3 | |
| Feb 21 | Kalman Filter | Barfoot-Ch3.3 | HW3, HW3 Testset, HW3 Solutions |
| Feb 26 | EKF, UKF | Barfoot-Ch4.2 | |
| Feb 28 | Catch-up | | |
| Mar 05 | Visual-Inertial SLAM | | |
| Mar 07 | Batch Estimation | | |
| Mar 12 | Localization and Odometry from Point Features | | |
| Mar 14 | Hidden Markov Models | Rabiner-HMM | |
| Mar 19 | Final Exam | | Final Exam Practice Problems
Final Exam Practice Solutions
Final Exam Solutions
|
|