Principles of Sensing for Autonomy

Basic principles of design and operation of sensors for autonomous systems. Global positioning system (GPS), inertial measurement unit (IMU), Ultrasonic sensor, camera, radar and lidar. Hardware architecture and signal processing algorithms for different sensors. Analysis of sensor performance under different operating conditions, and practical design tradeoffs. Sensor registration and calibration methods. Sensor fusion techniques. Prerequisites: EE 101B or equivalent, EE 102B or equivalent, EE 42 or equivalent, ENGR 108 or equivalent, basic programming (Python, Julia, MATLAB or equivalent).