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  
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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