Lessons

Introduction to probabilities (slides)

Gaussian Distribution (slides)

Least Squares (slides)(octave icp example)

Robust Estimators(slides)

Manifolds(slides )(octave icp on a manifold)

Multi-View Registration (slides)(octave source)

Pose-Graph optimization (slides)

Factor Graphs (slides)(c++ matrix orderings) (octave combined problems)

Applications with Real Data - SLAM and Bundle Adjustment (slides)

Homework - instructions will be given in class

Constrained Optimization on Factor Graphs (slides)

Continuous Estimation and GBP on Factor Graphs (slides-TBD)