ECE276A
Description
Schedule
Canvas
Piazza
GradeScope
(5VB8WW)
UCSD ECE276A: Sensing & Estimation in Robotics (Winter 2022)
Date
Lecture
Material
Assignment
Jan 04
Introduction
Jan 06
Probability Theory Review
Barfoot-Ch.2
Jan 11
Catch up
Jan 13
Linear Algebra Review
Matrix-calculus
HW1
,
PR1
Jan 18
Unconstrained Optimization
Barfoot-Ch.4.3.1
HW1 Solutions
Jan 20
Gaussian Discriminant Analysis
Mitchell-NaiveBayesLogReg
Jan 25
Catch up
Jan 27
Logistic Regression
Mitchell-NaiveBayesLogReg
Feb 01
Rotations
Barfoot-Ch.6.1-6.3
Feb 03
Motion and Observation Models
Barfoot-Ch.6.4
PR2
Feb 08
Catch up
HW2
Feb 10
Bayes Filter, Particle Filter
Barfoot-Ch.4.2
HW2 Solutions
Feb 15
Particle Filter SLAM
Thrun-Burgard-Fox-Ch.7-9
Feb 17
Catch up
Feb 22
Kalman Filter
Barfoot-Ch.3.3
,
Sarkka-Ch4
Feb 24
EKF, UKF
Barfoot-Ch.4.2
,
Sarkka-Ch5
HW3
,
PR3
Mar 01
Visual-Inertial SLAM
HW3 Solutions
Mar 03
Catch up
Mar 08
SO(3) and SE(3) Groups
Barfoot-Ch.7.1-7.2
Final Exam Practice Problems
Mar 10
Localization and Odometry from Point Features
Final Exam Practice Solutions
Mar 17
Final Exam