UCSD ECE276A: Sensing & Estimation in Robotics (Winter 2023)

Date	Lecture	Material	Assignment
Jan 09	Introduction	Matrix-calculus
Jan 11	Unconstrained Optimization	Barfoot-Ch.4.3.1
Jan 16	Rotations	Barfoot-Ch.6.1-6.3
Jan 18	Catch up		HW1, HW1 Solutions
Jan 23	Robot Motion and Observation Models	Barfoot-Ch.6.4	PR1
Jan 25	Localization and Odometry from Point Features
Jan 30	Localization and Odometry from Point Features
Feb 01	Catch up
Feb 06	Matrix Lie Groups	Barfoot-Ch.7.1-7.2, Hall Ch.2-3
Feb 08	Matrix Lie Group Optimization	Barfoot-Ch.7.1-7.2, Boumal-Ch.3	HW2
Feb 13	Catch up		HW2 Solutions
Feb 15	Bayes Filter	Barfoot-Ch.4.2	PR2
Feb 20	Bayes Filter	Barfoot-Ch.4.2
Feb 22	Particle Filter SLAM	Thrun-Burgard-Fox-Ch.7-9
Feb 27	Catch up
Mar 01	Kalman Filter	Barfoot-Ch.3.3, Sarkka-Ch4
Mar 06	Kalman Filter	Barfoot-Ch.3.3, Sarkka-Ch4	HW3, PR3
Mar 08	Visual-Inertial SLAM		HW3 Solutions
Mar 13	EKF, UKF	Barfoot-Ch.4.2, Sarkka-Ch5	Final Exam Practice Problems
Mar 15	Graph SLAM, Visual Features	Image-Features	Final Exam Practice Solutions
Mar 20	Final Exam		Final Exam Solutions