UCSD ECE276A: Sensing & Estimation in Robotics (Winter 2024)
Date | Lecture | Material | Assignment |
Jan 09 | Introduction | Matrix-calculus | |
Jan 11 | Unconstrained Optimization | Barfoot-Ch.4.3.1 | |
Jan 16 | Catch up | | |
Jan 18 | Rotations | Barfoot-Ch.6.1-6.3 | HW1, PR1 |
Jan 23 | Catch up | | Practice Problems |
Jan 25 | Robot Motion and Observation Models | Barfoot-Ch.6.4 | Practice Problem Solutions |
Jan 30 | Catch up | | HW1 Solutions |
Feb 01 | Factor Graph SLAM | Dellaert-Kaess Ch.1, Ch.2 | |
Feb 06 | Localization and Odometry from Point Features | | |
Feb 08 | Catch up | | HW2, PR2 |
Feb 13 | Bayes Filter | Barfoot-Ch.4.2 | HW2 Solutions |
Feb 15 | Particle Filter SLAM | Thrun-Burgard-Fox Ch.7, Ch.8, Ch.9 | |
Feb 20 | Catch up | | |
Feb 22 | Kalman Filter | Barfoot-Ch.3.3, Sarkka-Ch4 | |
Feb 27 | Catch up | | |
Feb 29 | EKF, UKF | Barfoot-Ch.4.2, Sarkka-Ch5 | HW3, PR3 |
Mar 05 | Matrix Lie Groups | Barfoot-Ch.7.1-7.2, Boumal-Ch.3 | HW3 Solutions |
Mar 07 | Visual-Inertial SLAM | | |
Mar 12 | Catch up | | Final Exam Practice Problems |
Mar 14 | Visual Features | Image-Features | Final Exam Practice Solutions |
Mar 21 | Final Exam | | Final Exam Solutions
|
|