Lectures

2017/09/27: Introduction, Sensors, Mobile Platforms

Introduction

Robots and Sensors, Orazio

Intro to VREP and g2o

Applications: MPR, ProSLAM

2017/10/05: Discrete Filter Example

Discrete Filtering

Applications: grid-orazio

2017/10/11: Gaussian Distribution, Kalman Filters

Gaussian Distribution

Kalman Filters

2017/10/12: EKF Localization

EKF-based Localization

Applications: ekf_localization

2017/10/18: EKF Localization (bearing only) SLAM

EKF-based Localization (bearing only)

EKF SLAM

Applications: ekf_localization_bearing_only, ekf_slam

2017/10/19: EKF SLAM

EKF SLAM

EKF Scenarios (extra slides)

Applications: ekf_slam

2017/10/25: Data Association

Data Association

EKF SLAM (with unknown data association)

Applications: ekf_slam (with unknown data association)

2017/10/26: Unscented Transform

Unscented Transform and UKF

2017/11/02: Unscented Localization

UKF Localization

Applications: ukf_localization

2017/11/08: Sampling, Particle Filters

Particle Distributions, Particle Filters

2017/11/09: Particle Localization

Particle Localization

Applications: particle_localization

2017/11/15: Data Association, Automatic Differentiation

Finding Neighbors

Automatic Differentiation

Applications: distance_map, autodiff, kd-tree

2017/11/16: 2D Localization in Real World

Particle Localization with Real Data

Applications: ParticleLocalization(ROS)

2017/11/22: Least-Squares Intro and ICP Optimization

Least Squares Introduction

Odometry Calibration

Applications: odometry calibration, 2d_point_registration

2017/11/23: 3D Point Registration

3D Point Registration

Applications: 3d_point_registration, linear_relaxation

2017/11/29: Least Squares and Manifolds

Least Squares and Uncertainty

Least Squares on Manifolds

2017/11/30: Projective ICP

ICP optimization on a Manifold

Projective ICP

Applications: picp

2017/12/06: Multi-Point Registration

Multi-Point Registration

Applications: multi_point_registration_3d

2017/12/07: Multi-Pose Registration and Graph SLAM

Multi-Pose Registration and Graph SLAM

Applications: total_least_squares

2017/12/13: Factor Graphs and Sparsity

Factor Graph

Applications: total_least_squares

2017/12/14: Random Sample Consensus

RANSAC

Applications: total_least_squares

2017/12/20: Projects

Projects

2017/12/20: Multi-Cue Photometric Registration

Video: mpr_description

Applications: srrg_mpr

2017/12/21: Multi-Robot SLAM and Unsupervised Calibration

Multi-Robot SLAM

Unsupervised Calibration