Lessons

Introduction to probabilities (slides)

Gaussian Distribution (slides)

Least Squares (slides)(octave icp example)

Robust Estimators(slides)

Manifolds(slides )(octave icp on a manifold)

Implicit Data Association [marathon version] (slides)(c++ example)

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)

Constrained Optimization on Factor Graphs (slides)(phd_thesis)(paper_how_to)(paper_mpc)

Belief Propagation and Message Passing on Factor Graphs

Spatial AI Applications