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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.ContentSuggested 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