MIT 2.166 Probabilistic Techniques for Mobile Robotics, Fall 2008
Lecture Handouts:
Lecture 21 : Monday, November 24th, 2008
- Part 1: Student presentation by: Been Kim
- Paper: Cornell's vehicle tracking system (pdf)
- Part 2: Student presentation by: Kenneth Lee
- Paper: Bosse's large-scale scan matching SLAM system (pdf)
Lecture 20 : Wednesday, November 19th, 2008
- Part 1: Student presentation by: Brent Tweddle
- Paper: Inverse Depth Parametrization for Monocular SLAM (pdf)
- Part 2: Student presentation by: Georgios Papadopoulos
- Paper: Adaptive robot navigation and mapping (pdf)
Lecture 19 : Monday, November 17th, 2008
- Part 1: Student presentation by: Francesco Mazzini
- Paper: (pdf)
- Part 2: Student presentation by: Chris Murphy
- Paper: (pdf)
Lecture 18 : Wednesday, November 12th, 2008
- Part 1: Student presentation by: Marek Doniec
- Paper: (pdf)
- Part 2: Student presentation by: Donald Eng
- Paper: (pdf)
Lecture 17 : Wednesday, November 5th, 2008
- Guest Lecture by Michael Kaess, Information Smoothing and Mapping
- Paper: iSAM: Incremental Smoothing and Mapping (pdf)
Lecture 16 : Monday, November 3rd, 2008
- Approaches to Robot Motion Planning and Control
- Lecture handouts (pdf)
Lecture 15 : Wednesday, October 27th, 2008
- Part 1: Occupancy grid mapping
- Lecture handouts (pdf)
- Part 2: Vision-based SLAM
- Paper: MonoSLAM: Real-Time Single Camera SLAM (pdf)
- Paper: Active Search for Real-time VisionA (pdf)
- Paper: Real-Time Simultaneous Localisation and Mapping with a
Single Camera (pdf)
- Paper: Exactly Sparse Delayed-State Filters for View-Based SLAM
(pdf)
Lecture 14 : Monday, October 25th, 2008
Lecture 13 : Wednesday, October 22nd, 2008
- Part 1: Student presentation by Eric Jonas on Rodent Navigation
- Paper: Dynamics of the Hippocampal Ensemble Code for Space (pdf)
Lecture 12 : Monday, October 20th, 2008 - FastSLAM
- Lecture handouts (pdf)
- AAAI 2002 FastSLAM paper (pdf)
Lecture 11 : Wednesday, October 15th, 2008 - Information Filters
(Guest Lecturer: Dr. Matthew Walter)
Lecture 10 : Wednesday, October 8th, 2008 - Large Scale Mapping
- Lecture handouts part 1 (pdf)
- Large-scale Mapping using the Atlas Framework (pdf)
Lecture 9 : Monday, October 6th, 2008 - Gaussian SLAM: Convergence
Properties and Data Association
- Lecture handouts part 1 (pdf)
- Lecture handouts part 2 (pdf)
- Data association in stochastic mapping using the
jointcompatibility test (pdf)
- Robust Mapping and Localization in Indoor Environments Using Sonar Data (pdf)
Lecture 8 : Wednesday, October 1st, 2008 - Gaussian SLAM: Basic Machinery
- Reseach Assignment 3 (pdf) (ra3_template.m)
- Lecture handouts (pdf)
- A Solution to the SLAM Problem, Dissayanake et al, IEEE Trans R&A, 2001 (pdf)
- SLAM with Sparse Extended Information Filters, Thrun et al, IJRR, 2004 (pdf)
Lecture 7 : Monday, September 29, 2008 - Kalman Localization
- Lecture handouts (pdf)
- SLAM Tutorial, part I, Durrant-Whyte & Bailey (pdf)
- SLAM Tutorial, part II, Durrant-Whyte & Bailey (pdf)
- Estimating Uncertain Spatial Relationships in Robotics, Smith,
Self and Cheeseman, 1990 (pdf)
- Mobile Robot Localization by Tracking Geometric Beacons, IEEE
TRA 1991 (pdf)
- Outlier Rejection for Autonomous Acoustic Navigation, IEEE ICRA
1996, (pdf)
Lecture 6 : Wednesday, September 24, 2008 - Motion and Sensor Models
Lecture 5 : Wednesday, September 17, 2008 - Particle Filters
Lecture 4: Monday, September 15th, 2008 - Gaussian Filters
Lecture 3: Wednesday, September 10th, 2008 - Introduction to
Recursive State Estimation
Lecture 2: Monday, September 8th, 2008 - Map representations
Lecture 1: Wednesday, September 3rd, 2008 - Introduction
- Syllabus (pdf)
- Pre-requisite survey (pdf)
- Research assignment 1 (pdf) (*note*: RA1 revised as of 9/8/08)
- RA1 tip sheet (pdf) (last revision :
9/9/08)
- Lecture handouts (pdf)