Lectures

2024/09/30: Intro, Sensors, Probabilities

• Introduction to the course (slides)

• Robots and Sensors (slides)

• Probability Recap (slides)

2024/10/01: Dependancy, DBN, Inference

• Bayesian Networks (slides)

• Dynamic Bayesian Networks and Inference (slides)

2024/10/02: Discrete Filtering Exercise

• Localizing Orazio on a Grid (slides) (source)

2024/10/07: Gaussian Distribution

• Gaussian Distribution (slides) (exercise)

2024/10/08: Kalman Filters

• (E)KF (slides) 

• Exercises on filtering (notes)

  • methodology

  • various examples

  • unycicle model

2024/10/09: EKF Localization

• Localizing in a landmark world (slides)(source)(solution)

2024/10/14: EKF Localization + SLAM

• Localizing bearing only (slides)(source)(solution)

• SLAM with EKF (slides)

• Exercises on filtering (notes)

  • methodology

  • various examples

  • unycicle model

2024/10/15: Making our EKF SLAM

• Exercise (slides)(source)(solution)

2024/10/16: More Kalman Exercises

• Exercises 3 and 4 on the notes

2024/10/21: Data Association

• Handling Unknown Correspondences (slides)

2024/10/22: EKF SLAM with unknown Data Association [Exercise]

• Implementing the heuristics (slides) (source)

2024/10/23: Unscented 

• Unscented Transform and UKF (slides)

• Differentiation (slides)(autodiff source)

2024/10/28: Partilcles 

• Particle Distributions and Particle Filters (slides)

2024/10/29: Unscented Localization [Exercise]

• (slides)(source)(solution)

2024/11/30: Particle Localization [Exericise]

2024/11/04: Closure on Filtering 

• Filtering Wrapup

• Finding Neighbors (slides)(source)

2024/11/05: Least Squares

• Least Squares Intro (slides)(source icp 2d)

• Uncertainty (slides)

2024/11/6: Odometry Calibration [Exercise]

2024/11/11: 3D Point Registration [Practical]

• ICP Registration and Linear Relaxation (slides) (icp_source)(lin_rel_source)

2024/11/18: Iterative Reweighed Least Squares on a Manifold

• Robustifiers (slides)

• Manifolds (slides)

2024/11/19: 3D Point Registration  on a Manifold

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

2024/11/20: Examples of  Registration  on a Manifold [Exercise]

• Registration on a Manifold (slides)(source)(solution)

2024/11/25: Projective ICP [Practical, C++]

• POSIT (slides)(source)

2024/11/26: Vision and Consensus

• Epipolar Geometry on a Unit Sphere (slides)(source)

• RANSAC (slides)

2024/11/27: Multivariate Least Squares (part 1)

• Multi Point Registration (slides)(source)

2024/12/02: Multivariate Least Squares (part 2)

• Multipose Registration (slides)(source)

• Factor Graphs and Sparisty (slides)(source)

Material: 

• on factor graphs: Least Squares Optimization: from theory to practice

• on ordering: Variable reordering strategies for SLAM (Agarwal & Olson), 

An Approximate Minimum Degree Ordering Algorithm (Amestoy, Davis, Duff)

2024/12/03: Course Map, Recap and Projects

• Course Map (slides)

2024/12/04: Projects

• Projects (slides)

2024/12/09: Examples/Seminars

• Exam examples (pdf)

2024/12/10: Seminars

• Some Hot Research Stuff from our group

2024/12/11: Seminars 

• Some Hot Research Stuff from our group