# Slam-lectures-tukl

### From CYPHYNETS

Mini-Course on SLAM: TU Kaiserlsautern, Germany
Summer 2012 |
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## Instructor

Email: abubakr [at] lums.edu.pk

Office:

Office Hours:

### Mini-Course Description

Introduction to basic concepts in robotics, Review of basic probability, random signals and systems, classical parameter estimation (min variance, least squares, max likelihood), Noisy sensor and motion models in robotics, concepts of state-space, Kalman filtering, Extended Kalman filter (EKF), robot configuration spaces, motion planning problems, Simultaneous Localization and Mapping (SLAM), Bayesian filtering, Monte-Carlo methods, particle filtering, SLAM variants; practical issues in autonomous robotics; examples/exercises from control, signal processing.

### Objectives

- Using sensor-based information to determine robotâ€™s own state and of the world.
- Linear and non-linear statistical estimation techniques applied to problems in robotics and dynamical systems.
- Introduce practical applications

### Textbooks

The following textbooks will be helpful as reference material. The first text matches closely the presentation followed in this mini-course.

- Principles of Robot Motion by Choset et al.

*(Quick overview for first encounter with SLAM.)*

- Probabilistic Robotics by Thrun et al.

*(Contains details, derivations and state of the art techniques.)*

- Optimal State Estimation: Kalman, H Infinity, and Nonlinear Approaches by Dan Simon.

*(Mathematical background on stochastic systems.)*

### Reference Slides

The following are reference slides (companion with textbook by Choset) to help prepare before the mini-course. The instructor will post his own slides, exercises and material as the lectures proceed.

#### Similar courses

KAUST. http://cyphynets.lums.edu.pk/index.php/ME-410 (my course in Summer 2011)

LUMS. http://cyphynets.lums.edu.pk/index.php/CMPE-633 (my course in Fall 2010)

Stanford. http://robots.stanford.edu/cs226-06/schedule.html

CMU. http://www.cs.cmu.edu/~thrun/16-899/

Centro de Investigacion en Matematicas, Mexico. http://www.cimat.mx/~jbhayet/

Univ of Washington. http://www.cs.washington.edu/education/courses/cse571/07au/

## Schedule

WEEK | TOPICS | READINGS/REFERENCES |
---|---|---|

June 05, 2012 | Lecture. Introduction to probabilistic robotics; Basic laws of probability and Bayes rule; linear transformations of Gaussian random variables; interpreting and visualizing the covariance matrix; state and measurement;
| Choset CH7, CH8; |

June 11, 2012 |
| Thrun CH 2; Choset CH8 |

June 12, 2012 |
| Thrun CH 2,3,4; Choset CH8 |