UCSD ECE276A: Sensing & Estimation in Robotics (Winter 2022)

Time and Location

  • Lectures: Tuesday and Thursday, 5:00 - 6:20 pm, on Zoom until February 11, 2022 and in CENTR 101 afterwards.

  • Final Exam: Thursday, March 17, 2022, 7:00 - 10:00 pm

  • Office Hours:

    • Monday, 11:00 am - 12:00 pm on Zoom

    • Tuesday, 6:20 pm - 7:00 pm, on Zoom

    • Wednesday, 12:00 pm - 1:00 pm, on Zoom

    • Thursday, 6:20 pm - 7:00 pm, on Zoom

    • Friday, 12:30 pm - 1:30 pm, on Zoom


  • Nikolay Atanasov: natanasov@ucsd.edu

  • Qiaojun Feng: qjfeng@ucsd.edu

  • Arash Asgharivaskasi: aasghari@ucsd.edu

  • Ehsan Zobeidi: ezobeidi@ucsd.edu

  • Rishabh Jangir: rjangir@ucsd.edu


This course covers the mathematical fundamentals of Bayesian filtering and their application to sensing and estimation in robotics. The topics include maximum likelihood estimation (MLE), Kalman and particle filters, projective geometry, visual features and optical flow, and simultaneous localization and mapping (SLAM).


The students are expected to have background in linear system theory at the level of ECE 171B, probability theory at the level of ECE 109, and optimization theory at the level of ECE 174, as well as a strong programming background.


The class assignments consist of theoretical homeworks, a final exam, and three projects, each including a programming assignment in Python and a project report:

  1. Color Segmentation: you will train a color classification model and use it to detect an object of interest.

  2. Particle Filter SLAM: you will implement indoor localization and occupancy grid mapping using Lidar measurements.

  3. Visual Inertial SLAM: you will implement an Extended Kalman Filter to track the three dimensional position and orientation of a robot using gyroscope, accelerometer, and camera measurements.

The students are expected to sign up on Piazza and GradeScope:5VB8WW. Discussion and important announcements will happen on Piazza. The homework should be turned in and will be graded on GradeScope:5VB8WW.


Grading will be based on the following rubric.

Homework 16%
Project 1 18%
Project 2 18%
Project 3 18%
Final Exam 30%


Collaboration and Academic Integrity

Please note that an important element of academic integrity is fully and correctly acknowledging any materials taken from the work of others. You are encouraged to work with other students and to discuss the assignments in general terms (e.g., “Do you understand the EM algorithm” or “What is the update equation of the Kalman filter?”). However, the work you turn in should be your own – you should not split parts of the assignments with other students and you should certainly not copy other students’ code or papers. All projects in this course are individual assignments. More generally, please familiarize yourself with UCSD's Code of Academic Integrity, which applies to this course. Instances of academic dishonesty will be referred to the Office of Student Conduct for adjudication.

IDEA Engineering Student Center

Please consider participating in the programs and events organized by the IDEA Engineering Student Center. The IDEA center, located to the right of the lobby of Jacobs Hall, is a hub for student engagement, academic enrichment, personal and professional development, leadership, community involvement, and a respectful learning environment for all. The IDEA center's mission is to foster an inclusive and welcoming community, promote academic success, develop engineering leaders, and, most importantly, support your mental health and wellness needs. These opportunities can be found on the IDEA Center Facebook page and the Center's web site.