700.740 (16W) Vision Based State Estimation and Sensor Fusion
Overview
- Lecturer
- Course title german Vision Based State Estimation and Sensor Fusion
- Type Lecture - Course (continuous assessment course )
- Hours per Week 2.0
- ECTS credits 4.0
- Registrations 14 (300 max.)
- Organisational unit
- Language of instruction Englisch
- possible language(s) of the assessment German , English , Spanish , French
- Course begins on 01.10.2016
- eLearning Go to Moodle course
Time and place
Course Information
Intended learning outcomes
In this lecture, the student will acquire knowledge on how to model sensors with their uncertainties and how to use these models for probabilistic state estimation through non-linear estimators and non-linear optimization methods. In particular, the student will learn how to model a camera and use it as a sensor to track the pose in 6DoF. Furthermore, the lecture will discuss the non-linear observability analysis of said estimators.
Teaching methodology including the use of eLearning tools
This lecture is closely linked to its practical counterpart (i.e. exercises) KU 700.741 "Vision Based State Estimation and Sensor Fusion". Students are highly encouraged to enroll in that course since the theoretical aspects in 700.740 (this lecture) will be deepened in the practical course.
Course content
This is the first time this lecture will take place. Feedback from the students is highly encouraged to ensure and improve the quality of this lecture. Below is a tentative agenda:
Date | Chapter | Content |
---|---|---|
05.10.2016 | Overview | Overview Sensor Modeling Overview Camera Overview |
12.10.2016 | Camera I | Distortion Epipolar Geometry |
19.10.2016 | Camera II | Camera Matrix Camera Calibration |
02.11.2016 | Camera III | Features Pose Estimation |
09.11.2016 | Camera IV | N-Point Algorithm Ransac |
16.11.2016 | Sensors | Barometer Model GPS Model IMU Model Continous/Discrete |
23.11.2016 | Filter I | State Estimation Overview Filter Overview Maximum Likelihood Wiener Filter |
30.11.2016 | Filter II | Kalman Filter Extended Kalman Filter |
07.12.2016 | Filter III | Unscented Kalman Filter Iterative Extended Kalman Filter Sensor Fusion Overview Simplifications of H |
14.12.2016 | Bundle Adjustment | Bundle Adjustment Matrix sparsety/Factor Graphs (Simplification of H) IMU-preintegration |
21.12.2016 | Observability Analysis | Observability Analysis Linear OA Nonlinear OA |
11.01.2016 | SLAM/VIO | SLAM/VIO |
18.01.2016 | Case Study | Case Study |
25.01.2016 | Exam Preparation | Exam Preparation |
Examination information
Grading scheme
Grade / Grade grading schemePosition in the curriculum
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Information and Communications Engineering: Supplements (NC, ASR)
(Compulsory elective)
-
Wahl aus dem LV-Katalog (Anhang 4) (
0.0h VK, VO, KU / 14.0 ECTS)
- 700.740 Vision Based State Estimation and Sensor Fusion (2.0h VC / 4.0 ECTS)
-
Wahl aus dem LV-Katalog (Anhang 4) (
0.0h VK, VO, KU / 14.0 ECTS)
-
Subject: Information and Communications Engineering: Supplements (NC, ASR)
(Compulsory elective)
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Technical Complements (NC, ASR)
(Compulsory elective)
-
Wahl aus dem LV-Katalog (Anhang 5) (
0.0h VK, VO, KU / 12.0 ECTS)
- 700.740 Vision Based State Estimation and Sensor Fusion (2.0h VC / 4.0 ECTS)
-
Wahl aus dem LV-Katalog (Anhang 5) (
0.0h VK, VO, KU / 12.0 ECTS)
-
Subject: Technical Complements (NC, ASR)
(Compulsory elective)
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Information and Communications Engineering: Supplements (NC, ASR)
(Compulsory elective)
-
Wahl aus dem LV-Katalog (Anhang 4) (
0.0h VK, VO, KU / 14.0 ECTS)
- 700.740 Vision Based State Estimation and Sensor Fusion (2.0h VC / 4.0 ECTS)
-
Wahl aus dem LV-Katalog (Anhang 4) (
0.0h VK, VO, KU / 14.0 ECTS)
-
Subject: Information and Communications Engineering: Supplements (NC, ASR)
(Compulsory elective)
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Technical Complements (NC, ASR)
(Compulsory elective)
-
Wahl aus dem LV-Katalog (Anhang 5) (
0.0h VK, VO, KU / 12.0 ECTS)
- 700.740 Vision Based State Estimation and Sensor Fusion (2.0h VC / 4.0 ECTS)
-
Wahl aus dem LV-Katalog (Anhang 5) (
0.0h VK, VO, KU / 12.0 ECTS)
-
Subject: Technical Complements (NC, ASR)
(Compulsory elective)
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Autonomous Systems and Robotics: Advanced (ASR)
(Compulsory elective)
-
Wahl aus dem LV-Katalog (siehe Anhang 3) (
0.0h VK, VO / 30.0 ECTS)
- 700.740 Vision Based State Estimation and Sensor Fusion (2.0h VC / 4.0 ECTS)
-
Wahl aus dem LV-Katalog (siehe Anhang 3) (
0.0h VK, VO / 30.0 ECTS)
-
Subject: Autonomous Systems and Robotics: Advanced (ASR)
(Compulsory elective)
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Autonomous Systems and Robotics (WI)
(Compulsory elective)
-
Wahl aus dem LV-Katalog (siehe Anhang 3) (
0.0h VK, VO / 30.0 ECTS)
- 700.740 Vision Based State Estimation and Sensor Fusion (2.0h VC / 4.0 ECTS)
-
Wahl aus dem LV-Katalog (siehe Anhang 3) (
0.0h VK, VO / 30.0 ECTS)
-
Subject: Autonomous Systems and Robotics (WI)
(Compulsory elective)
- Master's degree programme Information Technology
(SKZ: 489, Version: 06W.3)
-
Subject: Technischer Schwerpunkt (Control and Measurement Systems)
(Compulsory subject)
-
1.1-1.3 Vorlesung mit Kurs oder Vorlesung mit Seminar (
6.0h VK/VS / 12.0 ECTS)
- 700.740 Vision Based State Estimation and Sensor Fusion (2.0h VC / 4.0 ECTS)
-
1.1-1.3 Vorlesung mit Kurs oder Vorlesung mit Seminar (
6.0h VK/VS / 12.0 ECTS)
-
Subject: Technischer Schwerpunkt (Control and Measurement Systems)
(Compulsory subject)
- Master's degree programme Information Technology
(SKZ: 489, Version: 06W.3)
-
Subject: Additional Technical Module I
(Compulsory subject)
-
2.1-2.2 Lecture with Exercises or Lecture with Seminar (
4.0h VK/VS / 8.0 ECTS)
- 700.740 Vision Based State Estimation and Sensor Fusion (2.0h VC / 4.0 ECTS)
-
2.1-2.2 Lecture with Exercises or Lecture with Seminar (
4.0h VK/VS / 8.0 ECTS)
-
Subject: Additional Technical Module I
(Compulsory subject)
- Master's degree programme Information Technology
(SKZ: 489, Version: 06W.3)
-
Subject: Additional Technical Module II
(Compulsory subject)
-
3.1-3.3 Lecture with Exercises or Lecture with Seminar (
6.0h VK/VS / 12.0 ECTS)
- 700.740 Vision Based State Estimation and Sensor Fusion (2.0h VC / 4.0 ECTS)
-
3.1-3.3 Lecture with Exercises or Lecture with Seminar (
6.0h VK/VS / 12.0 ECTS)
-
Subject: Additional Technical Module II
(Compulsory subject)
Equivalent courses for counting the examination attempts
-
Wintersemester 2024/25
- 700.740 VC Vision Based State Estimation and Sensor Fusion (2.0h / 4.0ECTS)
-
Wintersemester 2022/23
- 700.740 VC Vision Based State Estimation and Sensor Fusion (2.0h / 4.0ECTS)
-
Wintersemester 2021/22
- 700.740 VC Vision Based State Estimation and Sensor Fusion (2.0h / 4.0ECTS)
-
Wintersemester 2020/21
- 700.740 VC Vision Based State Estimation and Sensor Fusion (2.0h / 4.0ECTS)
-
Wintersemester 2019/20
- 700.740 VC Vision Based State Estimation and Sensor Fusion (2.0h / 4.0ECTS)
-
Wintersemester 2018/19
- 700.740 VC Vision Based State Estimation and Sensor Fusion (2.0h / 4.0ECTS)
-
Wintersemester 2017/18
- 700.740 VC Vision Based State Estimation and Sensor Fusion (2.0h / 4.0ECTS)