University of Minnesota
Dept. of Computer Science and Engineering
Spring 2008
CSci 5552: Sensing and Estimation in Robotics
Schedule
Posted material is copyrighted by their authors and/or publishers.
"PB" refers to the textbook: S. Thrun, W. Burgard, and D. Fox, "Probabilistic Robotics" MIT Press, 2005.
Additional References:
- Kaare B. Petersen and Michael S. Pedersen, "The Matrix Cookbook" Feb. 2006 [pdf]
- NotesBibliography [pdf] (check frequently for updates)
| Session |
Topic |
Reading Assignment |
| Wed. Jan. 23 |
Introduction |
PB Ch. 1 |
| Mon. Jan. 28 |
Elements of Probability & Statistics |
PB Ch. 2, NotesCh2 |
| Wed. Jan. 30 |
Elements of Probability & Statistics |
PB Ch. 2, NotesCh2 |
| Mon. Feb. 4 |
Elements of Estimation Theory |
NotesCh3 |
| Wed. Feb. 6 |
Elements of Estimation Theory |
NotesCh3 |
| Mon. Feb. 11 |
Elements of Estimation Theory |
NotesCh3 |
| Wed. Feb. 13 |
Kalman filter |
PB 3.1 - 3.2.1, NotesCh4 |
| Mon. Feb. 18 |
Kalman filter |
PB 3.2.2 - 3.2.4, NotesCh4 |
| Wed. Feb. 20 |
Extended Kalman filter |
PB 3.3, NotesCh4 |
| Mon. Feb. 25 |
Extended Kalman filter |
PB 3.3, NotesCh4 |
| Wed. Feb. 27 |
Kalman filter - 1D Odometry Model |
NotesCh4 |
| Mon. Mar. 3 |
2D Odometry Model |
In class notes |
| Wed. Mar. 5 |
EKF - 2D kinematics-based propagation |
In class notes |
| Mon. Mar. 10 |
Wheel encoders & 2D Odometry |
In class notes |
| Wed. Mar. 12 |
Aria & the Pioneer Robots |
PioneerSlides AriaSlides |
| Mon. Mar. 17 |
Spring Break |
- |
| Wed. Mar. 19 |
Spring Break |
- |
| Mon. Mar. 24 |
Distance Measurement Model & EKF update |
In class notes, PB 6.6.1-6.6.2, PB 7-7.4.2 |
| Wed. Mar. 26 |
Bearing Measurement Model & EKF update |
In class notes, PB 7.4.3-7.4.4 |
| Mon. Mar. 31 |
Relative Position Measurement Model & EKF update |
In class notes |
| Wed. Apr. 2 |
SLAM - propagation |
NotesCh5-Prelim |
| Mon. Apr. 7 |
SLAM - update |
NotesCh5-Prelim |
| Wed. Apr. 9 |
MIDTERM |
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| Mon. Apr. 14 |
SLAM - initialization |
NotesCh5-Prelim |
| Wed. Apr. 16 |
SLAM - data association |
NotesCh5-Prelim |
| Mon. Apr. 21 |
MAP estimation |
NotesCh3 |
| Wed. Apr. 23 |
MAP estimation |
NotesCh3 |
| Mon. Apr. 28 |
SLAM initialization; dist. only |
In class notes |
| Wed. Apr. 30 |
LRKF |
In class notes |
| Mon. May 5 |
UKF |
In class notes |
| Wed. May 7 |
Project presentations |
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