├── LICENSE ├── README.md ├── code-examples ├── MATLAB │ ├── Markov_localization_1Dexample.m │ ├── confidence_ellipsoid_plots.m │ ├── gicp │ │ ├── gicp_SE3.m │ │ ├── gicp_Sim3.m │ │ └── registration_example.m │ ├── invariant-ekf │ │ ├── @riekf │ │ │ └── riekf.m │ │ ├── dead-reckoning_se2.avi │ │ ├── riekf_localization_se2.avi │ │ └── riekf_localization_se2.m │ ├── lib │ │ ├── R2d.m │ │ ├── R2ypr.m │ │ ├── Rx.m │ │ ├── Ry.m │ │ ├── Rz.m │ │ ├── Rzyx.m │ │ └── figuresize.m │ ├── linear_regression │ │ ├── lin_reg.m │ │ ├── lin_reg_ell1.m │ │ └── lin_reg_m_estimation.m │ ├── mapping │ │ ├── @occupancy_grid_map │ │ │ └── occupancy_grid_map.m │ │ ├── ogm_intel.png │ │ ├── ogm_intel_dataset.m │ │ ├── ptcloud_intel.png │ │ └── sample_Intel_dataset.mat │ ├── matrix_groups │ │ ├── odometry_propagation_se2.m │ │ ├── odometry_propagation_se2_rectangle.m │ │ ├── odometry_propagation_se3.m │ │ ├── pose_sync.m │ │ └── so3_cross_example.m │ ├── mcmc │ │ ├── mcmc_banana.m │ │ ├── mcmc_gibbs_banana.m │ │ └── mcmc_hmc_banana.m │ ├── mvn_plots.m │ ├── rgbd_tum.zip │ ├── slam │ │ ├── ekf_slam_example.m │ │ ├── isam │ │ │ ├── QR.m │ │ │ └── isam_incremental_update_example.m │ │ ├── jcbb-simulation.tar.gz │ │ ├── ls_incremental_slam.m │ │ └── ls_slam.m │ └── target_tracking │ │ ├── @ekf │ │ └── ekf.m │ │ ├── @kalman_filter │ │ └── kalman_filter.m │ │ ├── @particle_filter │ │ └── particle_filter.m │ │ ├── @ukf │ │ └── ukf.m │ │ ├── @unscented_transform │ │ └── unscented_transform.m │ │ ├── ekf_single_target.m │ │ ├── kf_single_target.m │ │ ├── ls_single_target.m │ │ ├── nls_single_target.m │ │ ├── pf_single_target.m │ │ ├── pf_single_target_cv.m │ │ ├── test_unscented_transform.m │ │ ├── ukf_single_target.m │ │ └── unscented_transform_example.m └── Python │ ├── Markov_localization_1Dexample.py │ ├── confidence_ellipse.pdf │ ├── confidence_ellipsoid_3d.png │ ├── confidence_ellipsoid_plots.py │ ├── gicp │ ├── __pycache__ │ │ └── gicp_SE3.cpython-36.pyc │ ├── concatenation.py │ ├── gicp_SE3.py │ ├── gicp_Sim3.py │ └── registration_example.py │ ├── invariant-ekf │ ├── IMG │ │ ├── 0.png │ │ ├── 1.png │ │ ├── 10.png │ │ ├── 100.png │ │ ├── 101.png │ │ ├── 102.png │ │ ├── 103.png │ │ ├── 104.png │ │ ├── 105.png │ │ ├── 106.png │ │ ├── 107.png │ │ ├── 108.png │ │ ├── 109.png │ │ ├── 11.png │ │ ├── 110.png │ │ ├── 111.png │ │ ├── 112.png │ │ ├── 113.png │ │ ├── 114.png │ │ ├── 115.png │ │ ├── 116.png │ │ ├── 117.png │ │ ├── 118.png │ │ ├── 119.png │ │ ├── 12.png │ │ ├── 120.png │ │ ├── 121.png │ │ ├── 122.png │ │ ├── 123.png │ │ ├── 124.png │ │ ├── 125.png │ │ ├── 126.png │ │ ├── 127.png │ │ ├── 128.png │ │ ├── 129.png │ │ ├── 13.png │ │ ├── 130.png │ │ ├── 131.png │ │ ├── 132.png │ │ ├── 133.png │ │ ├── 134.png │ │ ├── 135.png │ │ ├── 136.png │ │ ├── 137.png │ │ ├── 138.png │ │ ├── 139.png │ │ ├── 14.png │ │ ├── 140.png │ │ ├── 141.png │ │ ├── 142.png │ │ ├── 143.png │ │ ├── 144.png │ │ ├── 145.png │ │ ├── 146.png │ │ ├── 147.png │ │ ├── 148.png │ │ ├── 149.png │ │ ├── 15.png │ │ ├── 150.png │ │ ├── 151.png │ │ ├── 152.png │ │ ├── 153.png │ │ ├── 154.png │ │ ├── 155.png │ │ ├── 156.png │ │ ├── 157.png │ │ ├── 158.png │ │ ├── 159.png │ │ ├── 16.png │ │ ├── 160.png │ │ ├── 161.png │ │ ├── 162.png │ │ ├── 163.png │ │ ├── 164.png │ │ ├── 165.png │ │ ├── 166.png │ │ ├── 167.png │ │ ├── 168.png │ │ ├── 169.png │ │ ├── 17.png │ │ ├── 170.png │ │ ├── 171.png │ │ ├── 172.png │ │ ├── 173.png │ │ ├── 174.png │ │ ├── 175.png │ │ ├── 176.png │ │ ├── 177.png │ │ ├── 178.png │ │ ├── 179.png │ │ ├── 18.png │ │ ├── 180.png │ │ ├── 181.png │ │ ├── 182.png │ │ ├── 183.png │ │ ├── 184.png │ │ ├── 185.png │ │ ├── 186.png │ │ ├── 187.png │ │ ├── 188.png │ │ ├── 189.png │ │ ├── 19.png │ │ ├── 190.png │ │ ├── 191.png │ │ ├── 192.png │ │ ├── 193.png │ │ ├── 194.png │ │ ├── 195.png │ │ ├── 196.png │ │ ├── 197.png │ │ ├── 198.png │ │ ├── 199.png │ │ ├── 2.png │ │ ├── 20.png │ │ ├── 200.png │ │ ├── 201.png │ │ ├── 202.png │ │ ├── 203.png │ │ ├── 204.png │ │ ├── 205.png │ │ 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602.png │ │ ├── 603.png │ │ ├── 61.png │ │ ├── 62.png │ │ ├── 63.png │ │ ├── 64.png │ │ ├── 65.png │ │ ├── 66.png │ │ ├── 67.png │ │ ├── 68.png │ │ ├── 69.png │ │ ├── 7.png │ │ ├── 70.png │ │ ├── 71.png │ │ ├── 72.png │ │ ├── 73.png │ │ ├── 74.png │ │ ├── 75.png │ │ ├── 76.png │ │ ├── 77.png │ │ ├── 78.png │ │ ├── 79.png │ │ ├── 8.png │ │ ├── 80.png │ │ ├── 81.png │ │ ├── 82.png │ │ ├── 83.png │ │ ├── 84.png │ │ ├── 85.png │ │ ├── 86.png │ │ ├── 87.png │ │ ├── 88.png │ │ ├── 89.png │ │ ├── 9.png │ │ ├── 90.png │ │ ├── 91.png │ │ ├── 92.png │ │ ├── 93.png │ │ ├── 94.png │ │ ├── 95.png │ │ ├── 96.png │ │ ├── 97.png │ │ ├── 98.png │ │ └── 99.png │ ├── create_avi.py │ ├── riekf.py │ ├── riekf_localization_se2.avi │ └── riekf_localization_se2.py │ ├── linear_regression │ ├── lin_reg.png │ ├── lin_reg.py │ ├── lin_reg_ell1.png │ ├── lin_reg_ell1.py │ ├── lin_reg_m_estimation.png │ ├── lin_reg_m_estimation.py │ ├── lin_reg_w.png │ ├── lin_reg_w_ell1.png │ └── lin_reg_w_m_estimation.png │ ├── mapping │ ├── occupancy_grid_map.py │ ├── ogm_intel.png │ ├── ogm_intel_dataset.py │ ├── ptcloud_intel.png │ └── sample_Intel_dataset.mat │ ├── matrix_groups │ ├── banana_is_gaussian.png │ ├── banana_is_gaussian_rect.png │ ├── banana_is_gaussian_se3.png │ ├── lib.py │ ├── odometry_propagation_se2.py │ ├── odometry_propagation_se2_rectangle.py │ ├── odometry_propagation_se3.py │ ├── osometry_propagation_se3.py │ ├── pose_sync.py │ └── so3_cross_example.py │ ├── mcmc │ ├── mcmc_banana.py │ ├── mcmc_gibbs_banana.py │ └── mcmc_hmc_banana.py │ ├── mvn_contour.pdf │ ├── mvn_marginals_cond.pdf │ ├── mvn_plots.py │ ├── mvn_surfave.png │ ├── mvn_top.png │ ├── slam │ ├── QR.py │ ├── cholupdate_function.py │ ├── colamd.c │ ├── colamd.h │ ├── colamd.so │ ├── colamd_function.py │ ├── ekf_slam_example.py │ ├── ekf_slam_example_matlab.py │ ├── isam_incremental_update_example.py │ ├── jcbb-simulation.tar.gz │ ├── ls_incremental_slam.py │ └── ls_slam.py │ ├── target_tracking │ ├── ekf_single_target.py │ ├── extended_kalman_filter.py │ ├── kalman_filter.py │ ├── kf_single_target.py │ ├── ls_single_target.py │ ├── nls_single_target.py │ ├── particle_filter.py │ ├── pf_single_target.py │ ├── pf_single_target_cv.py │ ├── test_unscented_transform.py │ ├── ukf_single_target.py │ ├── unscented_kalman_filter.py │ ├── unscented_transform.py │ └── unscented_transform_example.py │ └── test.py ├── homework ├── answer_template │ └── alincoln_hw1.tex ├── homework-01 │ ├── NA568_HW1_W22.pdf │ ├── task2c_julia.ipynb │ └── task2c_python.ipynb ├── homework-02 │ ├── NA568_HW2_W22.pdf │ └── hw2-code.zip ├── homework-03 │ ├── NA568_HW3_W22.pdf │ ├── data.mat │ └── data_csv.zip ├── homework-04 │ ├── NA568_HW4_W22.pdf │ ├── VN100-T_UserManual-UM001.pdf │ ├── VN100_ProductBrief_DS.pdf │ ├── data.csv.zip │ └── data.mat ├── homework-05 │ ├── HW5_codes_matlab.zip │ ├── HW5_codes_python.zip │ └── NA568_HW5_W22.pdf ├── homework-06 │ ├── HW6_code_matlab.zip │ ├── HW6_code_python.zip │ └── NA568_HW6_W22.pdf └── homework-07 │ └── NA568_HW7_W22.pdf ├── lecture-notes ├── 01_Probability.pdf ├── 02_Estimation.pdf ├── 03_Kalman_Filtering.pdf ├── 04_Nonlinear_Kalman_Filtering.pdf └── 05_Particle_Filtering.pdf ├── slides ├── 01_Introduction.pdf ├── 02_Kalman_Filtering.pdf ├── 03_Nonlinear_Kalman_Filtering.pdf ├── 04_Particle_Filtering.pdf ├── 05_Rigid_Body_Motion.pdf ├── 05_transformation.ipynb ├── 06_Matrix_Lie_Groups.pdf ├── 06_Matrix_Lie_Groups_long.pdf ├── 07_Matrix_Lie_Groups_note.pdf ├── 08_Robot_Motion_and Uncertainty_Propagation.pdf ├── 09_Invariant_EKF.pdf ├── 10-Invariant_EKF_note.pdf ├── 11_Localization.pdf ├── 12_OGM.pdf ├── 13_Robotic_Mapping.pdf ├── 14_Optimization_I.pdf ├── 14_optimization_preliminaries │ ├── F21_Lecture_16.pdf │ ├── ROB101_F21_Lecture_17 │ │ ├── Bisection_method.ipynb │ │ ├── Bisection_method.slides.html │ │ ├── F21_Lecture_17.pdf │ │ ├── Newtons_method.ipynb │ │ └── Newtons_method.slides.html │ ├── ROB101_F21_Lecture_18 │ │ ├── Derivative-Gradient-Jacobian.ipynb │ │ ├── Derivative-Gradient-Jacobian.slides.html │ │ └── F21_Lecture_18.pdf │ ├── ROB101_F21_Lecture_19 │ │ ├── F21_Lecture_19.pdf │ │ ├── Newton-Raphson.ipynb │ │ └── Newton-Raphson.slides.html │ ├── ROB101_F21_Lecture_20 │ │ ├── F21_Lecture_20.pdf │ │ ├── Gradient-Descent.ipynb │ │ └── Gradient-Descent.slides.html │ └── ROB101_F21_Lecture_21 │ │ ├── F21_Lecture_21.pdf │ │ └── Newton-Optimization.ipynb ├── 15_Optimization_II.pdf ├── 16_Pointcloud_Registration_I.pdf ├── 17_RKHS_Registration.pdf ├── 18_RGBD_VO.pdf ├── 19_Graph_SLAM_I.pdf └── 20_Graph_SLAM_II.pdf └── teaching-evaluation ├── WN 2022 Instructor Report of NAVARCH 568 001 - EECS 568 001 - ROB 530 001 LEC.pdf └── WN 2022 Instructor Report of NAVARCH 568 881 - EECS 568 881 - ROB 530 881 LEC.pdf /code-examples/MATLAB/mapping/ogm_intel.png: -------------------------------------------------------------------------------- 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