Index

Symbols

$\epsilon$-greedy method 2D LIDAR

2D rigid transformations 3D LIDAR 3D reconstruction

A

accelerometer Ackermann steering, [1] action, [1] Ackermann steering differential drive discrete actions omnidirectional motion quadrotor flight stochastic action action model action space

action values activation function aerodynamic force aerodynamics all nearest neighbors ancestral sampling, [1] angular velocity, [1], [2], [3] artificial potential field artificial potential function attention autonomous driving

B

backward Euler method Bayes filter, [1] Bayes filtering Bayes net Bayesian network Bayes' theorem Bayesian network Bayes net Bayesian networks Bayesian view Bayes’ Theorem bearing measurement

bearing-range measurement belief state belief transition function Bellman equation bias binary edge image binary factors body frame, [1] body-attached frame body-frame boustrophedon bundle adjustment

C

camera camera calibration model camera matrix Camera Obscura Cartesian coordinate frame cascaded control CCD charged-coupled device CDF cumulative distribution function central limit theorem chain rule charged-coupled device CCD classification closed-loop control CMOS complementary metal-oxide-semiconductor CNN convolutional neural network collision-free path commutative group complementary metal-oxide-semiconductor CMOS complete complete algorithms conditional Gaussian density conditional independence conditional probability conditional probability distribution, [1]

conditional probability table CPT conditionally independent configuration, [1] configuration space, [1] configuration space obstacle region continuous DBNs continuous dynamic Bayes nets continuous dynamic Bayes nets continuous DBNs continuous time control tape, [1] control variables controlled Markov chain controller gain convolution convolutional layer convolutional neural network CNN convolutional neural networks correlation cost cost map covariance covariance matrix CPT conditional probability table cross entropy cross-entropy cumulative distribution function CDF

D

DAG directed acyclic graph Daguerreotype DBN dynamic Bayes net, [1] DDR differential-drive robot decision boundary decision tree deep learning, [1] deep Q-network DQN deep reinforcement learning DQN DRL, [1], [2] policy gradient methods policy optimization density depth of field differential drive differential-drive robot DDR digital cameras direct ToF

Direct Voxel Grid Optimization DVGO directed acyclic graph DAG discount factor discounted reward discrete time, [1] discrete time system discrete-time system disparity DQN deep Q-network drag drag coefficient drift driving direction DRL deep reinforcement learning, [1], [2] drone DVGO Direct Voxel Grid Optimization dynamic Bayes net DBN, [1] dynamics

E

East-North-Up ENU edge detection elimination algorithm, [1] EM expectation maximimazation EM algorithm expectation-maximization empirical mean ENU East-North-Up epsilon-greedy method

event execution phase expectation, [1] expectation maximimazation EM expectation-maximization EM algorithm expected reward expected value experience replay exploration vs. exploitation exponential map extrinsic calibration

F

factor factor graph, [1] factor graphs, [1], [2], [3] factored probability distribution factors, [1], [2] feature feedback control field of view FOV, [1] filtering distribution first person view FPV FLU Forward-Left-Up focal length forward Euler method

forward model forward simulation forward velocity kinematics Forward-Left-Up FLU Forward-Right-Down FRD FOV field of view, [1] FPV first person view FRD Forward-Right-Down free configuration space free path frequentist view fundamental stereo equation

G

Gaussian Gaussian Bayes nets Gaussian factor graphs Gaussian motion model Gaussian PDF Gaussian probability density function Gaussian probability density function Gaussian PDF generative model Gibbs sampling GPS, [1], [2]

gradient descent, [1] graphical model, [1] graphical models greedy action selection greedy planning grid-based representation group, [1] group action group axioms GTSAM, [1], [2], [3] gyroscope

H

hat operator Hessian hidden Markov model HMM, [1] hidden state hidden variables

histogram HMM hidden Markov model, [1] homogeneous coordinate transformation homogeneous coordinates, [1] homogeneous transformation matrix horizontal Sobel edge detector

I

ICP iterative closest points, [1] IMU inertial measurement unit, [1], [2] IMU preintegration Indirect ToF inertia matrix inertial measurement unit IMU, [1], [2]

inference Information Matrix initial state intrinsic camera coordinates inverse problem inverse transform sampling inverse velocity kinematics isotropic noise iterative closest points ICP, [1]

J

Jacobian matrix, [1], [2]

jerk joint probability distribution

K

Kahn’s algorithm Kalman filter, [1], [2], [3] Kalman smoothing

KD-tree kernel kinematics

L

lane switching large language model LLM lateral control law of total probability layer learning deep learning deep reinforcement learning density estimation neural radiance fields reinforcement learning system identification lens LIDAR, [1] LIght raDAR

Lie group LIght raDAR LIDAR likelihood, [1], [2] likelihood factor likelihood function linear image filter linear regression linear velocity, [1] LLM large language model localization, [1] logit longitudinal control loop closure, [1] loss function

M

machine learning magnetometer manifold MAP maximum a posteriori marginal probability distribution Markov chain Markov decision proces MDP Markov decision process Markov localization, [1], [2] Markov property mass MAV micro aerial vehicle max-product algorithm maximum a posteriori MAP maximum likelihood, [1], [2] maximum likelihood estimate ML estimate MCL Monte Carlo localization MDP Markov decision proces mean, [1]

mean squared error measurement model measurement phase micro aerial vehicle MAV mixture density, [1] ML estimate maximum likelihood estimate MLP multi-layer perceptron, [1] model calibration model-predictive control MPC Monte Carlo Monte Carlo EM Monte Carlo localization, [1] MCL motion model motion primitives, [1], [2] MPC model-predictive control multi-layer perceptron MLP, [1] multivariate Gaussian density multivariate normal distribution multivariate normal distribution multivariate Gaussian density

N

navigation frame, [1] nearest neighbor negative log likelihood nll NeRF neural radiance field, [1], [2], [3] neural network

neural networks, [1], [2] neural radiance field NeRF, [1], [2], [3] nll negative log likelihood noncommutative group, [1] nonlinear optimization nuisance variables

O

objective function observations occupancy map, [1] Octree off-policy RL, [1] opacity open-loop control optical axis

optimal policy optimal value function, [1] optimization, [1] optimization variable orthogonal Procrustes problem outcome output features, [1] overfitting

P

partially observable Markov decision process POMDP particle particle filter, [1] path path planning, [1] PDF probability density function, [1], [2] perception, [1] computer vision hidden Markov models localization MAP estimate maximum likelihood SLAM visual SLAM Perceptron photography PIL Python Imaging Library pinhole, [1] pinhole camera model pinhole projection pitch, [1] pixel planning decision theory Markov decision process motion primitives path planning trajectory optimization value iteration PMF probability mass function, [1] point cloud point cloud map policy, [1], [2] policy Iteration

policy optimization polynomial trajectories POMDP partially observable Markov decision process pooling layer pose pose alignment, [1] pose constraints Pose SLAM PoseSLAM, [1] posterior posterior marginals prediction phase prediction step predictive distribution principal point principle of optimality prior prior probability distribution PRM probabilistic road map probabilistic road maps probabilistic road map PRM probabilistic road maps PRM probabilistically complete probability density function PDF, [1], [2] probability distribution, [1] probability mass function PMF, [1] probability theory, [1] proportional control proximity sensor Python Imaging Library PIL PyTorch

Q

Q-function

Q-learning quadrotor

R

radio frequency identification RFID random variable, [1] discrete random variable range measurement range sensor rapidly-exploring random tree RRT, [1] ray direction rectified linear unit ReLU regression reinforcement learning, [1] policy iteration Q-learning ReLU rectified linear unit

resolution reward, [1] reward functions, [1] RFID, [1] radio frequency identification RFID beacon RGB RGB-D camera Robot localization robot state Rodrigues’ rotation formula roll, [1] rollout, [1], [2] rotation averaging rotation matrix, [1], [2] RRT rapidly-exploring random tree, [1]

S

sample space sampling, [1], [2] from Markov chains simulating stochastic actions sampling-based algorithms sampling-based method sampling-based methods SDF signed distance function SE(2), [1], [2] special Euclidean group of order 2 SE(3) special Euclidean group of order 3 self-driving cars semantic segmentation sense-think-act sensing continuous state dynamic Bayes nets inertial LIDAR proximity sensor models sensors stereo vision sensor coordinates sensor fusion sensor model sensors continuous-valued multi-valued sensing SfM structure from motion, [1] SGD stochastic gradient descent, [1] sigmoid function signed distance function SDF similarity transformation simulation simulation by sampling simultaneous localization and mapping SLAM, [1], [2] singular value decomposition singularity

skew symmetric matrix SLAM simultaneous localization and mapping, [1], [2] SLAM with landmarks sliding direction smoothing SO(2) special orthogonal group of order 2 SO(3) special orthogonal group of order 3 Sobel filter softmax function sparse Jacobian special Euclidean group, [1] special Euclidean group of order 2 SE(2) special Euclidean group of order 3 SE(3) special orthogonal group of order 2 SO(2) special orthogonal group of order 3 SO(3) splines, [1] state, [1], [2] 2D pose space 3D pose space configuration space continuous state discrete state, [1] state space state transition matrix state transition model statics statistic statistically independent statistics, [1] stereo baseline stochastic gradient descent SGD, [1] stochastic policy structure from motion SfM, [1] sufficient statistic sum-product algorithm supervised learning system matrix system of normal equations

T

TAMP task and motion planning task and motion planning TAMP task planning task plans task-level planning tensor test dataset threshold Time of Flight time series ToF token

topological sort torque training dataset training datasets trajectory trajectory optimization, [1] trajectory planning transformation transformer network transformers translational velocity transmittance trapezoidal method trilinear interpolation turning circle

U

UAV unmanned aerial vehicle unary factors under-actuated undirected graph uniform probability distribution Universal Transverse Mercator UTM

unmanned aerial vehicle UAV update step utility utility function UTM Universal Transverse Mercator

V

validation dataset value function, [1], [2], [3] value iteration, [1] variables variance, [1] vectored thrust vision transformer VIT vision-language-action model VLA

visual odometry visual SLAM VIT vision transformer Viterbi algorithm, [1] VLA vision-language-action model volume rendering voxel grid

W

weak law of large numbers, [1]

world state

Y

yaw, [1]