Lectures

2021/09/30: Intro, Sensors

• Introduction to the course (slides)

• Robots and Sensors (slides)

(video)

2021/10/03: About Probabilities

• Introduction to probability (slides)

• Modeling Dependencies (slides)

• Dynamic Bayesian Networks (slides)

(video1)(video2)(video3)

2021/10/07: Discrete Filtering

• Localizing Orazio in a grid world with Bayesian Filter (slides)(source)

(Video1)(Video2)

2021/10/10: Gaussians and Kalman (intro)

• Gaussian Distribution (slides)(Video)

• Exercise (pdf)

• Kalman Filters (slides)(Video)

2021/10/14: EKF Localization

• Localizing Orazio in a 2D world with known 2D landmarks using EKF (slides)(source)

2021/10/17: EKF Exercises

• EKF exercises (pdf)

• Localizing Orazio in a 2D world with known 2D landmarks observable only through bearing using EKF (slides)(source)(Video)

solution/resample.m

2021/10/21: EKF SLAM (Exercise)

• EKF SLAM with known data association (slides)(source)(Video)

2021/10/24: Data Association

• Data Association (slides)

• Finding Neighbors (slides)

  • distance map (source)

  • kd_tree (source)

2021/10/28: EKF SLAM (unknown Association)

• EKF SLAM with unknown known data association (slides)(source)

2021/11/07: Unscented + Differentiation

• Numerical/Analytical Derivatives (slides)(source)

• Unscented Transform and UKF (slides)

• Localization with UKF- intro (slides)(source)

2021/11/11: Unscented Localization

• Localization with UKF - exercise (slides)(source)

2021/11/14: Particles and Particle Filters

• Particle Systems (slides)

• Filtering Wrapup

2021/11/18: Particles and Particle Filters

• Localization with PF (slides)(source)

2021/11/21: Least Squares

• Intro and ICP optimization 2D (slides)(source)

• Simple Odometry Calibration (slides)(source)

2021/11/25: 3D Stuff

• ICP optimization 3D (slides)(source-nonlinear)(source-relaxed)

• Robustifers (slides)

2021/11/28: Least Squares: Uncertainty and Manifolds

• Modeling Uncertainty in LS (slides)

• Least Squares on a Manifold (slides)

• ICP Optimization in 3D on a Manifold (slides)(source)

2021/12/2: More examples on Registration

• Generic Registration Problems (slides) (source)

2021/12/5: Going Visual

• Fundamentals of Epipolar Geometry (slides)(source)

• RANSAC (slides)

• Projective ICP - exercise (slides)(source)

slides/probabilistic_robotics_29_course_map.pdf

2021/12/5: Going Visual

• Fundamentals of Epipolar Geometry (slides)(source)

• RANSAC (slides)

• Projective ICP - exercise (slides)(source)

2021/12/12: Multivariate Problems

• Multipoint Registration (slides)(source-landmarks)(source-BA)(source-omni-BA)

• Multipose Registration (slides)

2021/12/16: Factor Graphs

• Factor Graphs and (slides)(source)

2021/12/19: Closure and Projects

• Proposed Projects (slides)

• Wrapup (slides)

• Exam Samples (and solutions) (pdf)