State Estimation for Robotics

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

Exercise Solutions/(incomplete) Solutions Manual

Chapter 02 Primer on Probability Theory

• solution pdf

Chapter 03 Linear Gaussian Estimation

• Skipped: 3.6.5
• MATLAB script
• solution pdf

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

• Skipped: 7.5.6, 7.5.10, 7.5.13
• MATLAB script
• solution pdf