Lectures

2023/09/25: Intro, Sensors

• Introduction to the course (slides)

• Robots and Sensors (slides)

• Introduction to Probabilities (slides)

2023/09/26: Bayesian Networks.DBN

• Modeling Dependencies (slides)

• DBN (slides)

2023/09/29: Discrete Filters (Exercise)

• Localizing in a Grid World (slides)(source)

• Adding Orientations (slides)(source/solution)

2023/10/02: Gaussian Distriubution

• Gaussian (slides)

• Exercise on Gaussian Manipulation (pdf)

2023/10/03: Kalman Filters

• (Extended) Kalman Filter (slides)

• Exercises and Unicycle Model (pdf)

2023/10/06: Kalman Localization [Practical]

• EKF localization with point landmarks (slides)(source)(solution)

• EKF localization with bearing only measurements (slides)(source)(solution)

2023/10/09: Kalman SLAM with known Data Association [Practical]

• EKF SLAM with point landmarks (slides)(source)(solution)

2023/10/10: Healing Time :) 

• Buffer lesson to revise already seen concepts. Bring your questions.

2023/10/13: Data Association

• Handling Unknown Associations (slides)

2023/10/16: EKF SLAM with Unknown Associations [Practical]

• Heuristics on a concrete case (slides)(source)(solution)

2023/10/17: Unscented Transform Unscented Kalman Filter

• UKF and Sigma Points (slides)

2023/10/20: NO LESSON (Maker Fair)

2023/10/23: Unscented Localization [Practical]

• UKF Localization   (slides)

2023/10/24: Particle Distributions and Particle Filters

• Particle Filters   (slides)

2023/10/27: Complementary Topics

• Finding Neighbors: distance map and KD Trees   (slides ) (source/c++)

• Automatic and Numeric Differentiation (slides) (source/c++)

2023/10/30: Particle Localization[Practical]

• Localization   (slides) (source) (solution)

2023/10/31: Filtering Wrapup & Least Squares Intro

• Least Squares   (slides) (source/icp_2d)

2023/11/3: Least Squares: Odometry Calibration [Practical]

Odometry Calibration (slides) (source) (source unycicle and bike)

2023/11/6: 3D Point Registration

• 3D Registration (slides)(source Euler)(source linear-relaxation)

2023/11/7: LS exercises

• More examples on calibration (source)

2023/11/10:Uncertainty and Robustifiers

• Why H is Omega? (slides)

• Robust Cost Functions (slides)

2023/11/13:NO LESSON

2023/11/14:Manifolds

• Least Squares on a Manifold (slides)

• ICP on a manifold (slides)(source)

2023/11/17:More Examples of Registration

• More examples of Registration (slides)(source)

2023/11/20:Projective ICP [Exercise]

• Projective ICP (slides)(source)

2023/11/21: Projective Geometry Recap

• Projective Geometry on the Unit Sphere (slides)(source)

• RANSAC (slides)

2023/11/24: Multipoint Registration

• Registration with multiple poses (slides)(source_points)(source_ba)(source_unit_sphere)

2023/11/27: Multipose Registration

• Registration with multiple poses (slides)(source)

2023/11/28: Factor Graphs

• Factor Graphs a unifying Formalism (slides)(source)

• Extra: paper on sparse cholesky decomposition.

2023/12/04: Closure & Projects

• Course Map (slides)

• Projects (slides)

2023/12/05: Exam Exercises

• Exam Examples (pdf1)(pdf2)