Homework Determine the Maximum Likelihood Estimator for the

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Homework | Determine the Maximum Likelihood Estimator for the mean and variance of a

Homework | Determine the Maximum Likelihood Estimator for the mean and variance of a Gaussian Distribution Jason Rebello | Waterloo Autonomous Vehicles

Homework| Show that these two forms of the CRLB are equivalent Arun Das |

Homework| Show that these two forms of the CRLB are equivalent Arun Das | Waterloo Autonomous Vehicles Lab

Homework • Draw a factor graph with the following: • 5 timesteps • 6

Homework • Draw a factor graph with the following: • 5 timesteps • 6 landmarks • GPS measurements at each timestep • Odometry • IMU (at same frequency as odometry) • LIDAR measurements to each landmark • Reprojection error

Homework • Take the factor graph created from the previous slide and convert it

Homework • Take the factor graph created from the previous slide and convert it to a Bayes tree (pages 5 and 6 in ISAM 2 paper good reference))

Marginalization and sliding window| Homework problem #1 (easy) Answer questions 3 -5 from “The

Marginalization and sliding window| Homework problem #1 (easy) Answer questions 3 -5 from “The humble Gaussian distribution” Mackay, David. “The humble Gaussian distribution, ” 2006. 5

Marginalization and sliding window| Homework problem #1 (easy) Answer questions 3 -5 from “The

Marginalization and sliding window| Homework problem #1 (easy) Answer questions 3 -5 from “The humble Gaussian distribution” Mackay, David. “The humble Gaussian distribution, ” 2006. 6

Marginalization and sliding window| Homework problem #2 (hard) Consider Example 2 from “The humble

Marginalization and sliding window| Homework problem #2 (hard) Consider Example 2 from “The humble Gaussian distribution”: a) Find the covariance and inverse covariance matrix b) Marginalize out y 1 in each form Mackay, David. “The humble Gaussian distribution, ” 2006. 7

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