Lectures

2018/10/03: VREP, Octave and g2o

Intro to VREP and g2o

2018/10/04: Discrete Filtering

Discrete Filtering

2018/10/10: Gaussians and Kalman Filter

Gaussians

Kalman Filter

2018/10/11: Gaussians and Extended Kalman Filter (EKF)

Gaussians

EKF Localization (Exercise)

2018/10/17: Extended Kalman Filter (EKF) Localization

EKF Localization Bearing Only (Exercise)

EKF Scenarios (Supplementary Material)

EKF SLAM (Exercise)

2018/10/18: Extended Kalman Filter (EKF) Localization

EKF SLAM (Exercise)

2018/10/24: Data Association

Data Association

2018/10/31: Unscented Transform, UKF Localization

Unscented Transform and UKF

UKF Localization (Exercise: Source)

2018/11/07: Particles

Particle Distributions, Particle Filter

2018/11/08: Particle Filter Localization

PF Localization (Exercise: Source)

2018/11/14: Neighbors, Differentiation

Finding Neighbors

Differentiation

2018/11/15: Introduction to Least Squares

Least Squares and Iterative Closest Point

2018/11/21: Least Squares based Calibration

Odometry Calibration

2018/11/22: 3D Point Registration

3D Point Registration. Linear Relaxation

2018/11/28: Uncertainty in Least Squares and Manifolds

Least Squares and Uncertainty

Least Squares on Manifolds

2018/11/29: Iterative Closest Point on a Manifold

ICP Optimization on a Manifold

2018/12/05: Projective ICP on a Manifold

Projective ICP (Exercise: Source)

2018/12/06: Introduction to Graph SLAM

Multi-Point Registration

Multi-Pose Registration

2018/12/12: Graph SLAM

Multi-Pose Registration

Sparse Optimization

Lecture evaluation

2018/12/13: Graph SLAM Examples

ICP Optimization with and without Manifold (Source)

Multi-Point Registration (Source)

Multi-Pose Registration / Total Least Squares (Source)

2018/12/19: RANSAC and Projects

RANdom SAmple Consensus

Projects