2020/10/06: Introduction to the course, prob recap
Course intro (slides) (video)
Robots and Sensors (slides) (video)
Recap on Probability (slides) (video part_1)(video part_2)
2020/10/09: Bayes Net
Bayes Networks (slides) (video)
Dynamic Bayes Network (slides) (video part1)
2020/10/13: Filtering
Bayes Networks Filtering, generic derivation (slides)(video)
Discrete Filtering [pracitcal](slides)(video)(code)
2020/10/16: Gaussian Manipulation
Multivariate Gaussian Distribution (slides)(video)
Proposed Exercise on Gaussians (text)
2020/10/20: Kalman Filter
Kalman Filter Derivation (slides)(video)
Exercises on Kalman Filter (text)(video1, video2, video3) [videos to be edited]
2020/10/23: Localization with EKF [Practical]
Exercise (slides)(code)(video)
Meet session recording available to students enrolled
2020/10/27: EKF [Practical]
EKF Localization Bearing Only (sildes)(code)(video)
EKF SLAM (slides)(code)(video)
The meet sessions are available to the students enrolled
2020/10/30: Data Association
Data Assiociation (slides)(video)
2020/11/03: Unscented Transform and DA exercise
Unscented Transform and UKF (slides)(video)
EKF with unknown association (slides)(code)(video)
For the meet recordings nothing changes
2020/11/06: Particle Filters and UKF exercise
Particle Distributions and SIR particle filters (slides)(sample_code)(video)
UKF Localization (slides)(code)(video)
2020/11/10: Complements, PF exercise
Differentiation (slides)(code)(video)
Finding Neighbors (slides)(code distance-map)(code kd-tree) (video)
PF Localization (slides)(code)(video)
2020/11/13: Filtering Wrapup, Least Squares intro
Wrapup on filtering (video)
role of initializations
choosing the right tool
Problems proposed: Bearing only SLAM, Bearing only Localization w/o DA
Intro on Least Squares (slides)(video)
Point Registration in 2D (slides)(code)(video)
2020/11/17: Exercises (filtering, calibration, ICP)
Filtering: example tests (text)(video) Do exercise on KF
ICP Bearing only (code)(video)
Calibration (slides)(code)(video)
2020/11/20: 3D Point Registration, Robust Estimators
ICP optimization in 3D (slides)(code)(video)
Linear Relaxation (slides)(code)(video)
Robust Estimators (slides)(video)
2020/11/24: Manifolds and Uncertainty
Uncertainty and Least Squares (slides)(video)
Least Squares on a Manifold (slides)(code)(video)
2020/11/27: ICP manifold Examples
ICP Registration on a Manifold (slides)(code)(video)
Other Problems of Registration (slides)(code)(video)
2020/12/01: Projective Registration and CV recap
A full example including data association: Projective Registration (slides)(code)(video)
Pills of camera stuff (slides)(code)(video)
2020/12/04: MultiPoint Registration
RANSAC (slides)(video)
Multi-Point Multi Robot Registration (slides)(code)(video)
2020/12/11: Factor Graphs
Multi Pose Registration (slides)(video)
Factor Graphs (slides)(video)
2020/12/15: Factor Graphs
Total LS (code)(video1)(video2)
Course Map (slides)(video)
2020/12/18: Projects and Exam Exercises
Projects and Exam Rules (slides)(video)
Exam exercises on LS(video)