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Back to State Estimation and Localization for Self-Driving Cars

State Estimation and Localization for Self-Driving Cars, University of Toronto

33 ratings
5 reviews

About this Course

Welcome to State Estimation and Localization for Self-Driving Cars, the second course in University of Toronto’s Self-Driving Cars Specialization. We recommend you take the first course in the Specialization prior to taking this course. This course will introduce you to the different sensors and how we can use them for state estimation and localization in a self-driving car. By the end of this course, you will be able to: - Understand the key methods for parameter and state estimation used for autonomous driving, such as the method of least-squares - Develop a model for typical vehicle localization sensors, including GPS and IMUs - Apply extended and unscented Kalman Filters to a vehicle state estimation problem - Understand LIDAR scan matching and the Iterative Closest Point algorithm - Apply these tools to fuse multiple sensor streams into a single state estimate for a self-driving car For the final project in this course, you will implement the Error-State Extended Kalman Filter (ES-EKF) to localize a vehicle using data from the CARLA simulator. This is an advanced course, intended for learners with a background in mechanical engineering, computer and electrical engineering, or robotics. To succeed in this course, you should have programming experience in Python 3.0, familiarity with Linear Algebra (matrices, vectors, matrix multiplication, rank, Eigenvalues and vectors and inverses), Statistics (Gaussian probability distributions), Calculus and Physics (forces, moments, inertia, Newton's Laws)....

Top reviews


Mar 01, 2019

Sometimes hard, but still pretty much fun to solve all the problems :)

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5 Reviews

By James Lin

Apr 12, 2019

This is a fast paced course on state estimation. ES Kalman Filter is the focus of the final project. Lectures cover basics of Kalman filter very thoroughly. You need to spend quite some time to sort out complexity to finish the final project, yet the efforts are well spent. You will only graph the fundamentals after hard projects. Overall, a very well organized and executed course. Highly recommended.

By Maksym Bondarenko

Apr 04, 2019

The course has very advanced material and I value this course a lot. However I am very confused at some key concepts and didn't understand many details conceptually. For example it is not clear what is the difference between EKF and ES-EKF.

Also, for the final project the formulas have been given. I implemented the project using the formulas, but I didn't understand deeply enough the meaning of those formulas. For example what does Kalman Gain represent.

Maybe the topic is just so advanced, or maybe I should be reading more resources outside the lectures. But I finished the course with the feeling that I have a lot to learn in the space of localization and state estimation.

By Yulia Melnikova

Mar 11, 2019

The content of the course is great, very useful and applicable ! The lectures are well told, animations are brilliant. I rate this course as 4 stars due to a low feedback activity from the teaching staff.

By Yusen Chen

Mar 10, 2019

Could we use C++ to program the projects?

And also, in most assignments, please make sure every requirements and additional information are CORRECT and CLEAR! Now, some of them are REALLY MISLEADING!

By Levente Kovacs

Mar 01, 2019

Sometimes hard, but still pretty much fun to solve all the problems :)