INTERACTIVE COURSE ON EKF AND SLAM   NEW

This course is intended for beginners on Extended Kalman Filter and Simultaneous Localization And Mapping.

It is based on the principle:

"we make programs that work; we try to understand later".

We build Extended Kalman filters and SLAM programs from scratch. They work, and we are happy. See two snapshots:

EKF -->  curs ekf     slam map <-- SLAM

The course consists on a series of videos (8h30 total time), and some supporting files.

It requires very basic knowledge of the Matlab syntax. It mostly works on Octave too, except possibly for some graphics functionalities and some symbolic computations.

To take the best profit of the course, I strongly recommend you follow the following procedure:

    1. Open the video file and Matlab. Place them on the both sides of the screen (you can use two screens if you prefer).

    2. Play the video. Type in your editor EXACTLY what is being typed on the video. Follow my comments and suggestions.

    3. If you do not understand anything, don't worry: keep on going and things will come up later.

    4. Execute the files you typed and see how your work produces amazing results.

    5. Use the provided m-files to help fixing some bugs you may make.

The videos advance at a very slow pace. I recommend you adopt an active actitude of actually typing code, otherwise you will soon get bored. If you type, you will learn very quickly.

Part I: Kalman Filter (KF) and Extended Kalman Filter (EKF). Total time: 3h 30min.

    Download the video with the introduction to KF (44 min, 24 MB).
    Download the video with an example of a one-dimensional KF (51 min, 28 MB).
    Download the video with the introduction to EKF (10 min, 6 MB).
    Download the video with an example of a two-dimensional tracker (1h 45 min, 57 MB).
    Download the support m-files.

Part II: 2D SLAM based on the EKF. Total time: 5h 00 min.

    Download the PDF with a brief introduction to the theoretical background of EKF-SLAM.
    Download the video with the introduction to SLAM (54 min, 18 MB).
    Download the video with the elementary SLAM observation functions (34 min, 19 MB).
    Download the video with the robot motion function (35 min, 14 MB).
    Download the video with main SLAM program (2h 53 min, 93 MB).
    Download the video with an interesting bug correction (2 min, 1 MB).
    Download the support m-files and pdf-file.