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TSRT14 Sensor fusion
On-Line Material
In 2020 and 2021 this course was, due to the COVID-19 pandemic, given as an online course. The video material that was developed is still available, as a complement to the lecture series.
The recorded material can be found on sensorfusion.se. The material there rougly matches the lectures the following way.
| Nr. | Content | Suggested entries |
|---|---|---|
| 1 | Estimation theory for linear models. | 1-5 |
| 2 | Estimation theory for nonlinear models. | 6-9 |
| 3 | Cramér-Rao lower bound (CRLB). Models for sensor network applications. | 10-11 |
| 4 | Detection theory. Filter theory. | 12-15, 25 |
| 5 | Modeling and motion models. | 16-19 |
| 6 | Kalman filter. Kalman filter approximations for nonlinear models (EKF, UKF). | 20-24, 26 |
| 7 | The point-mass filter and the particle filter. | 27-28 |
| 8 | The particle filter theory. The marginalized particle filter. Filter banks. | 29-33 |
| 9 | Simultaneous localization and mapping (SLAM). | 34-37 |
| 10 | Sensors and sensor-near signal processing. Filter and model validation. | |
| Lab 1 | Lab Work: Localization Using a Microphone Network. | 38 |
| Lab 2 | Lab Work: Orientation Estimation using Smartphone Sensors. | 39 |
| SigSys | Introduction to Signals and Systems Toolbox. | 40 |
Informationsansvarig: Gustaf Hendeby
Senast uppdaterad: 2022-06-02
