Sensor Fusion - TTK 4250

Course Content

• Probability and Estimation

• The Kalman Filter from Bayesian Perspective

  • The Bayes Filter
  • The Kalman Filter

• Non-Linear Filtering

  • Linearization and the Extended Kalman Filter (EKF)
  • The Particle Filter

• Maneuvering Targets and Multiple Models

  • Gaussian Mixtures
  • Interacting Multiple Models (IMM)

• Single-Target Tracking

  • Probabilistic Data Association Filter (PDAF)
  • Integrated Probabilistic Data Association (IPDA)
  • IMM-PDAF

• Multiple-Target Tracking

  • Joint Probabilistic Data Association (JPDA)

• Error State Kalman Filter (ESKF)

• SLAM: Recursive Methods

  • EKF-SLAM
  • FAST-SLAM
  • Nearest-Neighbour Data Association

• Probabilistic Graphical Models

  • Bayesian Networks
  • Factor Graphs
  • Markov Random Fields
  • The Bayes Tree

• SLAM: Graph Methods

  • SLAM using QR-Decomposition
  • ISAM
  • ISAM2