Introduction

This is a collection of electronic notes pertaining to the science of Probabilistic Robotics, as taken from the titular work.

Contents

1. Introduction

2. Recursive State Estimation

• Probability Refresher
• Introduction to Bayes Filtering
• Problems

3. Gaussian Filters

• Introduction to Kalman Filters
• Extended & Unscented Kalman Filters
• Information Filter
• Problems

Appendix A - Inverse Kinematics

• Conventions
• Forward Kinematics
• Inverse Kinematics

Licensing

This entire work is licensed under the Microsoft Reference Source License (Ms-RSL). Please refer to the attached license documentation or contact the author.