## 课程信息

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100% 在线

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

100% 在线

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

## Module 1: Least Squares

4 个视频 （总计 33 分钟）, 3 个阅读材料, 3 个测验
4 个视频
Lesson 1 (Part 2): Squared Error Criterion and the Method of Least Squares6分钟
Lesson 2: Recursive Least Squares7分钟
Lesson 3: Least Squares and the Method of Maximum Likelihood8分钟
3 个阅读材料
Lesson 1 Supplementary Reading: The Squared Error Criterion and the Method of Least Squares45分钟
Lesson 2 Supplementary Reading: Recursive Least Squares30分钟
Lesson 3 Supplementary Reading: Least Squares and the Method of Maximum Likelihood30分钟
3 个练习
Lesson 1: Practice Quiz30分钟
Lesson 2: Practice Quiz30分钟
2

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

6 个视频 （总计 53 分钟）, 5 个阅读材料, 1 个测验
6 个视频
Lesson 2: Kalman Filter and The Bias BLUEs5分钟
Lesson 3: Going Nonlinear - The Extended Kalman Filter9分钟
Lesson 4: An Improved EKF - The Error State Extended Kalman Filter6分钟
Lesson 5: Limitations of the EKF7分钟
Lesson 6: An Alternative to the EKF - The Unscented Kalman Filter15分钟
5 个阅读材料
Lesson 1 Supplementary Reading: The Linear Kalman Filter45分钟
Lesson 2 Supplementary Reading: The Kalman Filter - The Bias BLUEs10分钟
Lesson 3 Supplementary Reading: Going Nonlinear - The Extended Kalman Filter45分钟
Lesson 4 Supplementary Reading: An Improved EKF - The Error State Kalman FIlter1小时
Lesson 6 Supplementary Reading: An Alternative to the EKF - The Unscented Kalman Filter30分钟
3

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

4 个视频 （总计 34 分钟）, 3 个阅读材料, 1 个测验
4 个视频
Lesson 2: The Inertial Measurement Unit (IMU)10分钟
Lesson 3: The Global Navigation Satellite Systems (GNSS)8分钟
Why Sensor Fusion?3分钟
3 个阅读材料
Lesson 1 Supplementary Reading: 3D Geometry and Reference Frames10分钟
Lesson 2 Supplementary Reading: The Inertial Measurement Unit (IMU)30分钟
1 个练习
4

## Module 4: LIDAR Sensing

4 个视频 （总计 48 分钟）, 3 个阅读材料, 1 个测验
4 个视频
Lesson 2: LIDAR Sensor Models and Point Clouds12分钟
Lesson 3: Pose Estimation from LIDAR Data17分钟
Optimizing State Estimation3分钟
3 个阅读材料
Lesson 1 Supplementary Reading: Light Detection and Ranging Sensors10分钟
Lesson 2 Supplementary Reading: LIDAR Sensor Models and Point Clouds10分钟
Lesson 3 Supplementary Reading: Pose Estimation from LIDAR Data30分钟
1 个练习