Index

Symbols

2D rigid transforms

A

accelerometer Ackermann steering action Ackermann steering differential drive discrete actions omnidirectional motion quadrotor flight stochastic action

action space action values activation function all nearest neighbors angular velocity, [1]

B

backward Euler method Bayes filtering Bayes net Bayes network Bayes network Bayes net Bayesian view

bearing belief state Bellman equation bias binary factors body frame, [1] Bundle Adjustment

C

camera calibration model camera matrix Camera Obscura chain rule classification CNN convolutional neural network complete conditional Gaussian density conditional probability conditional probability table CPT

conditionally independent control tape control variables controlled Markov chain convolutional layer convolutional neural network CNN convolutional neural networks CPT conditional probability table cross entropy

D

DBN dynamic Bayes net, [1] decision tree deep reinforcement learning DQN policy gradient methods policy optimization density digital cameras

discount factor discrete time systems disparity drag drag coefficient driving direction dynamic Bayes net DBN, [1] dynamics

E

edge detection elimination algorithm EM algorithm expectation-maximization empirical mean event execution phase

expectation expectation-maximization EM algorithm expected reward expected value experience replay extrinsic calibration

F

factor factor graph factor graphs factors, [1] field of view FOV filtering distribution, [1]

FLU convention focal length forward Euler method forward velocity kinematics FOV field of view frequentist view fundamental stereo equation

G

Gibbs sampling gradient descent graphical models

greedy action selection greedy planning group gyroscope

H

hat operator Hessian hidden Markov model HMM

hidden variables HMM hidden Markov model horizontal Sobel edge detector

I

ICP iterative closest points IMU inertial measurement unit inertia matrix inertial measurement unit IMU

inference Information Matrix initial state intrinsic camera coordinates inverse transform sampling inverse velocity kinematics iterative closest points ICP

J

Jacobian matrix

jerk joint probability distribution

K

Kalman smoothing

kinematics

L

lateral control law of total probability learning deep learning deep reinforcement learning density estimation neural radiance fields reinforcement learning system identification

lens Lie group likelihood, [1] likelihood factor linear velocity, [1] localization, [1] longitudinal control loop closure, [1]

M

manifold MAP maximum a posteriori marginal probability distribution Markov chain Markov localization Markov property mass maximum a posteriori MAP maximum likelihood estimate ML estimate

mean mean squared error measurement model measurement phase mixture density ML estimate maximum likelihood estimate Monte Carlo EM motion model motion primitives

N

navigation frame, [1] nearest neighbor NeRF neural radiance field neural networks

neural radiance field NeRF noncommutative group nonlinear optimization nuisance variables

O

observations opacity optimal policy

optimal value function optimization output features

P

partially observable Markov decision process POMDP particle filter perception computer vision hidden Markov models localization MAP estimate maximum likelihood SLAM visual SLAM Perceptron photography pinhole camera model pinhole projection pitch pixels planning decision theory Markov decision process motion primitives path planning trajectory optimization value iteration

PMF probability mass function policy policy Iteration polynomial trajectories POMDP partially observable Markov decision process pooling layer pose pose alignment pose constraints PoseSLAM posterior posterior marginals prediction phase predictive distribution principal point principle of optimality prior probabilistically complete probability distribution probability mass function PMF Probability theory

R

random variable discrete random variable range rectified linear unit ReLU regression ReLU rectified linear unit

resolution RGB Robot localization roll rollout, [1] rotation matrix

S

sample space sampling SDF signed distance function semantic segmentation sensing continuous state dynamic Bayes nets inertial LIDAR sensor models sensors stereo vision sensor coordinates sensor model sensors sensing SfM structure from motion SGD stochastic gradient descent sigmoid function signed distance function SDF simultaneous localization and mapping SLAM skew symmetric matrix SLAM simultaneous localization and mapping

sliding direction Smoothing Sobel filter sparse Jacobian special Euclidean group special Euclidean group of order 2 special orthogonal group of order 2 splines, [1] state 2D pose space 3D pose space configuration space continuous state discrete state, [1] state space state transition model statics statistic statistically independent stereo baseline stochastic gradient descent SGD stochastic policy structure from motion SfM sufficient statistic supervised learning system of normal equations

T

topological sort torque transformation

translational velocity transmittance trapezoidal method trilinear interpolation

U

unary factors

utility function

V

value function value iteration variables variance

visual odometry visual SLAM Viterbi Algorithm volume rendering voxel grid

W

weak law of large numbers

Y

yaw