Lectures

2019/09/24: Introduction, Sensors, Mobile Platforms

Introduction

Robots and Sensors, Orazio

Introduction to Probability

2019/09/27: Probability

Modeling Dependencies

(Dynamic) Bayesian Networks

2019/10/01: Discrete Filtering

Discrete Filtering

2019/10/04: Gaussian Distribution and Kalman Filter

Gaussian Distribution

Kalman Filter

2019/10/08: Excercises

blackboard lecture

2019/10/11: Kalman Filter based Localization

EKF Localization (Exercise)

2019/10/15: Kalman Filter based Localization and SLAM

EKF Localization bearing only (Exercise)

EKF SLAM (Exercise)

2019/10/18: Data Association

Data Association

2019/10/22: Kalman Filter based SLAM with Unknown Association

EKF_SLAM_with_Unknown_Association

2019/10/22: Unscented Transform

Unscented Transform

2019/10/25: UKF Localization

UKF Localization (Exercise)

2019/10/25: Finding Neighbors: Distance Map, K-D Tree

Finding Neighbors

2019/10/29: Particle Filtering

Particle Filter

2019/11/19: Least Squares: Robust Estimators, Uncertainty, Manifolds

Robust Estimators

Least Squares and Uncertainty

Least Squares on Manifolds

2019/11/26: Projective Registration

Projective ICP

2019/11/29: Epipolar Geometry

blackboard lecture

2019/12/03: Multi-Point Registration

Multi-Point Registration

Ransac

2019/12/06: Multi-Pose Registration

Bundle Adjustment

Multi-Pose Registration

2019/12/10: Factor Graph

Factor Graphs

Projects

Projects