ME780 – Nonlinear State Estimation for Robotics and Computer Vision – Spring 2017

Syllabus and Presentation Schedule

Week 1:

  • Overview of nonlinear State Estimation: slides      video
  • Rotations and Transformations: slides    video

Week 2:

Week 3:

Week 4:

  • Probability Review, Linear Least Squares, and Estimator Properties: slides video
  • Factor Graphs and Nonlinear Least Squares: slides    video

Week 5:

  • Solving Sparse Systems and Square Root Form: slides    video
  • Marginalization and Sliding Window Estimation: slides    video

Week 6:

Week 7:

  • Modeling Camera Residual Terms:  Video 2
  • Modeling Absolute and Relative Pose Residuals and Point Cloud Scan Registration: Video 2