State Estimation for Robotics

Reference: T. D. Barfoot, State Estimation for Robotics. Cambridge University Press, 2017.

Exercise Solutions

Chapter 02 Primer on Probability Theory

Chapter 03 Linear Gaussian Estimation

Prob 3.6.2

A = [2 -1 0 0 0 0;
    -1 3 -1 0 0 0;
    0 -1 3 -1 0 0;
    0 0 -1 3 -1 0;
    0 0 0 -1 3 -1;
    0 0 0 0 -1 2];

L = chol(A, 'lower')

Chapter 07 Matrix Lie Groups Exercise Solutions

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