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) | | |