## 課程信息

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This is an advanced course, intended for learners with a background in mechanical engineering, computer and electrical engineering, or robotics.

100% 在線

This is an advanced course, intended for learners with a background in mechanical engineering, computer and electrical engineering, or robotics.

1

## Module 0: Welcome to Course 2: State Estimation and Localization for Self-Driving Cars

9 個視頻 （總計 33 分鐘）, 3 個閱讀材料
9 個視頻
Welcome to the Course3分鐘
Meet the Instructor, Jonathan Kelly2分鐘
Meet the Instructor, Steven Waslander5分鐘
Meet Diana, Firmware Engineer2分鐘
Meet Winston, Software Engineer3分鐘
Meet Andy, Autonomous Systems Architect2分鐘
Meet Paul Newman, Founder, Oxbotica & Professor at University of Oxford5分鐘
The Importance of State Estimation1分鐘
3 個閱讀材料
Course Prerequisites: Knowledge, Hardware & Software15分鐘
How to Use Discussion Forums15分鐘
How to Use Supplementary Readings in This Course15分鐘

## Module 1: Least Squares

4 個視頻 （總計 33 分鐘）, 3 個閱讀材料, 3 個測驗
4 個視頻
Lesson 1 (Part 2): Squared Error Criterion and the Method of Least Squares6分鐘
Lesson 2: Recursive Least Squares7分鐘
Lesson 3: Least Squares and the Method of Maximum Likelihood8分鐘
3 個閱讀材料
Lesson 1 Supplementary Reading: The Squared Error Criterion and the Method of Least Squares45分鐘
Lesson 2 Supplementary Reading: Recursive Least Squares30分鐘
Lesson 3 Supplementary Reading: Least Squares and the Method of Maximum Likelihood30分鐘
3 個練習
Lesson 1: Practice Quiz30分鐘
Lesson 2: Practice Quiz30分鐘
2

## Module 2: State Estimation - Linear and Nonlinear Kalman Filters

6 個視頻 （總計 53 分鐘）, 5 個閱讀材料, 1 個測驗
6 個視頻
Lesson 2: Kalman Filter and The Bias BLUEs5分鐘
Lesson 3: Going Nonlinear - The Extended Kalman Filter9分鐘
Lesson 4: An Improved EKF - The Error State Extended Kalman Filter6分鐘
Lesson 5: Limitations of the EKF7分鐘
Lesson 6: An Alternative to the EKF - The Unscented Kalman Filter15分鐘
5 個閱讀材料
Lesson 1 Supplementary Reading: The Linear Kalman Filter45分鐘
Lesson 2 Supplementary Reading: The Kalman Filter - The Bias BLUEs10分鐘
Lesson 3 Supplementary Reading: Going Nonlinear - The Extended Kalman Filter45分鐘
Lesson 4 Supplementary Reading: An Improved EKF - The Error State Kalman FIlter1小時
Lesson 6 Supplementary Reading: An Alternative to the EKF - The Unscented Kalman Filter30分鐘
3

## Module 3: GNSS/INS Sensing for Pose Estimation

4 個視頻 （總計 34 分鐘）, 3 個閱讀材料, 1 個測驗
4 個視頻
Lesson 2: The Inertial Measurement Unit (IMU)10分鐘
Lesson 3: The Global Navigation Satellite Systems (GNSS)8分鐘
Why Sensor Fusion?3分鐘
3 個閱讀材料
Lesson 1 Supplementary Reading: 3D Geometry and Reference Frames10分鐘
Lesson 2 Supplementary Reading: The Inertial Measurement Unit (IMU)30分鐘
1 個練習
4

## Module 4: LIDAR Sensing

4 個視頻 （總計 48 分鐘）, 3 個閱讀材料, 1 個測驗
4 個視頻
Lesson 2: LIDAR Sensor Models and Point Clouds12分鐘
Lesson 3: Pose Estimation from LIDAR Data17分鐘
Optimizing State Estimation3分鐘
3 個閱讀材料
Lesson 1 Supplementary Reading: Light Detection and Ranging Sensors10分鐘
Lesson 2 Supplementary Reading: LIDAR Sensor Models and Point Clouds10分鐘
Lesson 3 Supplementary Reading: Pose Estimation from LIDAR Data30分鐘
1 個練習