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

Updated Schedule for End of Term

Note the following changes to the schedule:

  • July 17th – No Class
  • July 18th – Homework Session
  • July 24th – Chris (Direct Visual-Inertial Odometry and SLAM)
  • July 25th – Rahul from WiseLab (Vehicle Kinematics and Modelling)

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:    slides    video  Video 2
  • Modeling Absolute and Relative Pose Residuals and Point Cloud Scan Registration:    slides    video     Video 2

Week 8:

  • Sensor Calibration:  slides    video
  • Landmark Based Visual Inertial Odometry and SLAM:    slides    video

Week 9:

Week 10:

  • Direct Methods in Visual Odometry:  slides    video