Difference between revisions of "CDS 110b: Sensor Fusion"
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| − | {{cds110b-wi08}} | + | {{cds110b-wi08 lecture|prev=Kalman Filters|next=Robust Performance}} |
In this set of lectures we discuss discrete-time random processes and the discrete-time Kalman filter. We use the discrete-time formulation to consider problems in (multi-rate) 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. | In this set of lectures we discuss discrete-time random processes and the discrete-time Kalman filter. We use the discrete-time formulation to consider problems in (multi-rate) 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. | ||
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{| border=1 width=100% | {| border=1 width=100% | ||
|- valign=top | |- valign=top | ||
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===== Monday ===== | ===== Monday ===== | ||
<ol type="A"> | <ol type="A"> | ||
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===== Wednesday ===== | ===== Wednesday ===== | ||
<ol type="A"> | <ol type="A"> | ||
| + | <li>Application: Autonomous driving</li> | ||
| + | * Low-level sensor fusion in Alice (Gillula) | ||
| + | * Sensor fusion for urban driving (DGC07) | ||
<li>Information filters</li> | <li>Information filters</li> | ||
* Problem setup | * Problem setup | ||
* Kalman filter derivation | * Kalman filter derivation | ||
| − | |||
* Sensor fusion example revisited | * Sensor fusion example revisited | ||
| − | * | + | <li>Modern extensions of Kalman filtering</li> |
| + | * Moving horizon estimation | ||
| + | * Particle filters | ||
| + | </ol> | ||
|} | |} | ||
| + | <p> | ||
| + | * {{cds110b-wi08 pdfs|L8-1_fusion.pdf|Lecture notes on sensor fusion}} | ||
| + | * {{cds110b-wi08 pdfs|L8-2_kfexts.pdf|Lecture slides on applications and extensions of Kalman filters}} | ||
| + | * {{cds110b-wi08 pdfs|hw7.pdf|HW #7}} (due 5 Mar 08) | ||
| + | </p> | ||
== References and Further Reading == | == References and Further Reading == | ||
Latest revision as of 03:23, 2 March 2008
| CDS 110b | ← Schedule → | Project |
In this set of lectures we discuss discrete-time random processes and the discrete-time Kalman filter. We use the discrete-time formulation to consider problems in (multi-rate) 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[edit]
|
Wednesday[edit]
|
- Lecture notes on sensor fusion
- Lecture slides on applications and extensions of Kalman filters
- HW #7 (due 5 Mar 08)
References and Further Reading[edit]
- R. M. Murray, Optimization-Based Control. Preprint, 2008: Chapter 5 - Sensor Fusion
- Appendix from Ben Grochalsky's thesis on information filter.
- CDS 270-2 (Networked Control Systems) page on Kalman Filtering - provides additional notes and lecture materials (including some nice references)
