This course covers topics related to tracking systems, focusing on the filtering methods used to mitigate noise. It is assumed the student has a strong mathematical background and is proficient in MATLAB or C programming.

Topics include model fitting and the normal equations, nonlinear soultions, Kalman filter, extended Kalman filter, particle filter, unscented transform, recursive Bayesian estimation, and hidden Markov models. In labwork, several of these ideas are implemented by the student.

Instructor: Adam Hoover

Grader: Yiru Shen, email yirus@clemson.edu Syllabus Here is the tentative outline for the semester. Dates and topics are subject to change.Day | Lecture topics (instructor notes) | Extra references | Lab assigned | Lab due |
---|---|---|---|---|

Thursday, 8/23 | Introduction to tracking systems and filtering; Line fitting, least squares | A paper on least median of squares fitting to overcome outliers. | ||

Tuesday, 8/28 | Normal equations, fitting a circle to a set of data | An excerpt on the normal equations from Numerical Recipes in C. | lab 1 - line and model fitting The data for part three of the lab. | |

Thursday, 8/30 | Root finding, nonlinear regression | An online function graphing calculator which can be used to visual the second example in the lecture notes. | ||

Tuesday, 9/4 | Nonlinear model fitting | Some C code that demonstrates fitting a nonlinear model of exponential form. Another C code example that demonstrates fitting a sinusoidal form. | lab 2 - nonlinear regression The data files A B and C for fitting. | lab 1 due |

Thursday, 9/6 | Professional writing tools, TeX, vector graphics | A simple example of a TeX file. Another example of a TeX file of the notes for the previous lecture, along with EPS files for the scalar figure and distribution figure. | ||

Tuesday, 9/11 | Technical writing, content and organization | lab 2 due | ||

Thursday, 9/13 | Writing: graphics and figures | Top 10 worst figures in published research papers. Data distortion, ambiguity and distraction. Anatomy of a graph. Funny examples of selecting models to fit to data. | lab 3 - professional writing | |

Tuesday, 9/18 | Filtering, state spaces, state transition and measurement equations | |||

Thursday, 9/20 | Dynamic and measurement noises, optimal balancing | |||

Tuesday, 9/25 | Covariances, matrix notation for filtering | An excerpt from Brookner's book on matrix notation for the KF. | lab 3 due | |

Thursday, 9/27 | Kalman filter | An Introduction to the KF by Greg Welch and Gary Bishop. Instructions on using TrackSim to demonstrate the Kalman filter. | lab 4 - Kalman filter The data to be used for part 1. Some 2D UWB tracking data that can be used for part 2. | |

Tuesday, 10/2 | 2D Kalman filter example | |||

Thursday, 10/4 | Nonlinear filtering, Jacobians | |||

Tuesday, 10/9 | Extended Kalman filter, radar example | lab 4 due | ||

Thursday, 10/11 | EKF example, sinusoid | Instructions on using TrackSim to demonstrate the extended Kalman filter. | lab 5 - extended Kalman filter The data to be used for part 1. Some simulated ballistic data for part 2 is forthcoming. | |

Tuesday, 10/16 | Recursive Bayesian estimation | |||

Thursday, 10/18 | Non-Gaussian state and noise distributions | |||

Tuesday, 10/23 | Importance sampling, sequential importance sampling | lab 5 due | ||

Thursday, 10/25 | Particle filter, resampling | A tutorial on particle filtering in the context of signal processing. Another tutorial in the context of mobile robot localization. | lab 6 - particle filter The data to be used. Some C code that generated the data, in case you would like to try your own. | |

Tuesday, 10/30 | Particle filter demo, coding | Instructions on using TrackSim to demonstrate the particle filter. | ||

Thursday, 11/1 | Introduction to ultra-wideband position tracking | Bill Suski's defense slides | ||

Tuesday, 11/6 | no class - Fall break | |||

Thursday, 11/8 | Matrix square root, unscented transform | A presentation on the unscented particle filter, by Rudolph van der Merwe | ||

Tuesday, 11/13 | Noise modeling for UWB indoor position tracking | Salil Banerjee's defense slides | ||

Thursday, 11/15 | Introduction to hidden Markov models and the Viterbi algorithm | An introduction to HMMs by Raul Ramos. Viterbi algorithm by Didier Gonze. | ||

Tuesday, 11/20 | HMM problem solving, example applications. | Examples of HMM applications by Raul Ramos. | lab 7 - HMM | lab 6 due |

Thursday, 11/22 | no class - Thanksgiving break | |||

Tuesday, 11/27 | Mobile robot architectures | Pictures of different mobile robots explained during lecture. | ||

Thursday, 11/29 | Behavior-based robotics | lab 8 - robot simwars. The C code for the simulated environment for robot survival wars. | lab 7 due | |

Tuesday, 12/4 | Robot survival simulations | lab 8 first robot code due | ||

Thursday, 12/6 | Robot survival simulations with memory | lab 8 second robot code due, report due |

ECE 8540 Page / Clemson / ahoover@clemson.edu