1. Show the duality between optimization and probability. 2. Derive the covariance for optimization problems. 3. Implement the covariance for GPS and Lucas-Kanade tracker.
Category: least-squares
Time Calibration
We will 1. discuss the time-calibration problem. 2. Time calibration's connection to Lucas-Kanade. 3. IROS 2018 best paper. Apply to visual odometry
Lucas–Kanade Tracker
Derive Lucas-Kanade as a least squares problem. Implementation in C++.
Least Squares Refresher
1. Define basic math concepts. 2. Derive the general least squares solutions. 3. A warm-up example for least squares.