Difference between revisions of "CDS 110b: Sensor Fusion"
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−  * {{cds110bwi08 pdfs  +  * {{cds110bwi08 pdfsL81_fusion.pdfLecture notes on sensor fusion}} 
−  * {{cds110bwi08 pdfs  +  * {{cds110bwi08 pdfsL82_fusion.pdfLecture slides on information filters}} 
−  * {{cds110bwi08 pdfs  +  * {{cds110bwi08 pdfshw7.pdfHW #7}} (due 5 Mar 08) 
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Revision as of 03:12, 2 March 2008
CDS 110b  Schedule  Project  Course Text 
In this set of lectures we discuss discretetime random processes and the discretetime Kalman filter. We use the discretetime formulation to consider problems in (multirate) sensor fusion and sensor fusion in the presence of information/packet loss. We also introduce the information filter, which provides a particularly simple method for sensor fusion.
Monday

Wednesday

References and Further Reading
 R. M. Murray, OptimizationBased Control. Preprint, 2008: Chapter 5  Sensor Fusion
 Appendix from Ben Grochalsky's thesis on information filter.
 CDS 2702 (Networked Control Systems) page on Kalman Filtering  provides additional notes and lecture materials (including some nice references)