Probabilistic_Robotics

note of probabilistic robot

Catalogue

Ⅰ Basic

1. Introduction
2. Recursive State Estimation
3. Gaussian Filters
4. Nonparametric Filter
5. Robot Motion
6. Robot Perception

Ⅱ Localization

7. Mobile Robot Localization Markov and Gaussian
8. Mobile Robot Localization Grid And Monte Carlo

Ⅲ Mapping

9. Occupancy Grid Mapping
10. Simultaneous Localization and Mapping
11. The GraphSLAM Algorithm
12. The Sparse Extended Information Filter
13. The FastSLAM Algorihtm

Appendix

• Problem unsolved
• The Multivariate Normal Distribution
• Matrix_Differentiation
• Monte Carlo Method
• Covariance Matrix
• Gaussian Newton Iteration with Automatic Derivatives
• IMU model
• Iterated Kalman Filter
• Multivariate Taylor Expansion
• Quaternion and Rotation