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