UCSD ECE276A: Sensing & Estimation in Robotics (Winter 2020)

Date	Lecture	Material	Assignment
Jan 06	Introduction
Jan 08	Probability Theory Review	Barfoot-Ch2
Jan 13	Unconstrained Optimization	Barfoot-Ch4.3.1, Matrix-calculus	HW1, HW1 Solutions
Jan 15	Supervised Learning	Mitchell-NaiveBayesLogReg	PR1
Jan 20	No class: Martin Luther King Day
Jan 22	Catch up	Tomasi-EM
Jan 27	Rotations	Barfoot-Ch6.1-6.3
Jan 29	Motion and Observation Models	Barfoot-Ch6.4
Feb 03	Catch up
Feb 05	Bayes Filter, Particle Filter	Barfoot-Ch4.2	HW2, HW2 Solutions, PR2
Feb 10	Particle Filter SLAM	Thrun-Ch7-9
Feb 12	Kalman Filter	Barfoot-Ch3.3
Feb 17	No class: President's Day
Feb 19	Catch up
Feb 24	EKF, UKF	Barfoot-Ch4.2
Feb 26	SO(3) and SE(3) Groups	Barfoot-Ch. 7.1-7.2	HW3, HW3 Solutions, PR3
Mar 02	Visual-Inertial SLAM
Mar 04	Visual Features, Optical Flow	Image-Features
Mar 09	Catch up
Mar 11	Localization and Odometry from Point Features
Mar 16	Final Exam		Final Exam Practice Problems Final Exam Practice Solutions