UCSD ECE276A: Sensing & Estimation in Robotics (Winter 2021)

Date Lecture Material Assignment
Jan 04 Introduction
Jan 06 Probability Theory Review Barfoot-Ch.2
Jan 11 Catch up
Jan 13 Unconstrained Optimization Barfoot-Ch.4.3.1, Matrix-calculus HW1, PR1
Jan 18 Gaussian Discriminant Analysis (No class, Martin Luther King Day) Mitchell-NaiveBayesLogReg HW1 Solutions
Jan 20 Logistic Regression Mitchell-NaiveBayesLogReg
Jan 25 Catch up
Jan 27 Rotations Barfoot-Ch.6.1-6.3
Feb 01 Motion and Observation Models Barfoot-Ch.6.4 HW2, HW2 Solutions
Feb 03 Catch up PR2
Feb 08 Bayes Filter, Particle Filter Barfoot-Ch.4.2
Feb 10 Particle Filter SLAM Thrun-Burgard-Fox-Ch.7-9
Feb 15 Kalman Filter (No class, President's Day) Barfoot-Ch.3.3
Feb 17 EKF, UKF Barfoot-Ch.4.2
Feb 22 SO(3) and SE(3) Groups Barfoot-Ch.7.1-7.2
Feb 24 SO(3) and SE(3) Groups Barfoot-Ch.7.1-7.2 HW3, PR3
Mar 01 Visual-Inertial SLAM HW3 Solutions
Mar 03 Catch up
Mar 08 Visual Features, Optical Flow Image-Features
Mar 10 Localization and Odometry from Point Features Final Exam Practice Problems
Final Exam Practice Solutions
Mar 15 Final Exam Final Exam Solutions