| Week | Day | Date | Topic | References | Slides |
|---|---|---|---|---|---|
| 1 | Th | 1/14 | Introduction, Transformations | Introduction, Transformations | |
| 2 | Tu | 1/19 | Rotations, Angular velocity | Rotations | |
| 2 | Th | 1/21 | Quadrotor dyanmics | Quadrotor dynamics | |
| 3 | Tu | 1/26 | Linear control | System Modeling, State-space control | Linear control |
| 3 | Th | 1/28 | Motion planning | Motion planning | |
| 4 | Tu | 2/2 | Graph search | Graph Search | |
| 4 | Th | 2/4 | Graph Search (continued) | ||
| 5 | Tu | 2/9 | Time, motion, and trajectory planning | Time, Motion, and Trajectories | |
| 5 | Th | 2/11 | Multi-robot planning | Multi-robot planning | |
| 6 | Tu | 2/16 | Nonlinear control | Lie derivatives | Nonlinear control |
| 6 | Th | 2/18 | Bayes filter | Bayesian filtering | |
| 7 | Tu | 2/23 | Kalman filter | Filtering | Kalman filter |
| 7 | Th | 2/25 | Extended Kalman filter | Extended Kalman filter | |
| 8 | Tu | 3/1 | Probabilistic planning and midterm review | Probabilistic planning | |
| 8 | Th | 3/3 | EXAM 1 | Midterm solutions | |
| 9 | Tu | 3/8 | (Spring break) | ||
| 9 | Th | 3/10 | (Spring break) | ||
| 10 | Tu | 3/15 | Camera model | Camera model | |
| 10 | Th | 3/17 | Projective geometry | Projective geometry | |
| 11 | Tu | 3/22 | Pose estimation | Pose estimation | |
| 11 | Th | 3/24 | PnP | 3D vision | PnP |
| 12 | Tu | 3/29 | Optical flow | Optical flow | |
| 12 | Th | 3/31 | Velocity from optical flow and RANSAC | RANSAC | |
| 13 | Tu | 4/5 | 3D velocity | 3D velocity | |
| 13 | Th | 4/7 | Odometry filtering | Error state Kalman filter (Updated) | |
| 14 | Tu | 4/12 | Visual odometry | 3D Two Views | |
| 14 | Th | 4/14 | Visual odometry, SFM | ||
| 15 | Tu | 4/19 | Bundle Adjustment | Bundle Adjustment | |
| 15 | Th | 4/21 | TBD | ||
| 16 | Tu | 4/26 | EXAM 2 | ||
| 16 | Th | 4/28 | (Reading days) |