STATE ESTIMATION FOR ROBOTICS
1 Introduction 1 1.1 A Little History 1 1.2 Sensors, Measurements, and Problem De nition 3 1.3 How This Book Is Organized 4 1.4 Relationship to Other Books 5 Part I Estimation Machinery 7 2 Primer on Probability Theory 9 2.1 Probability Density Functions 9 2.1.1 De nitions 9 2.1.2 Bayes’ Rule and Inference 10 2.1.3 Moments 11 2.1.4 Sample ...
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