TTK4250 - Sensor Fusion


Examination arrangement

Examination arrangement: Aggregate score
Grade: Letter grades

Evaluation Weighting Duration Grade deviation Examination aids
Graded Assignments 30/100
School exam 70/100 4 hours C

Course content

Examples of sensor fusion. Random variables and probability distributions. Concepts in estimation: ML, MAP, MMSE estimator, total probability theorem, Bayes and orthogonality principle. The multivariate Gaussian and the product identity. The Kalman filter. Stochastic processes driven by white noise. The extended Kalman filter. Particle filters. Gaussian mixtures. Hybrid systems and the IMM algorithm. Data association in single and multiple target tracking. The PDAF and the JPDA. Methods for detection and track initiation. Smoothing. Multiple hypothesis tracking, integer programming and PMBM. Loosely coupled inertial navigation systems (INS). Error models for INS. The multiplicative extended Kalman filter for attitude estimation. Nonlinear INS methods. The standard model for feature-based simultaneous localization and mapping (SLAM) and its EKF solution. Data association for SLAM. Rao-Blackwellization and FastSLAM. The information filter. Graphical SLAM methods. Practical implementation of methods for multi-target tracking, INS and SLAM.

Learning outcome

Knowledge: Knowledge about core applications in sensor fusion. Knowledge about key results in probability and estimation. Knowledge about linear and nonlinear filtering techniques. Knowledge about methods for target tracking in clutter. Knowledge about modeling and implementation of INS. Knowledge about feature-based SLAM methods. Skills: Be able to use different estimation principles in a variety of estimation problems. Manipulate multivariate Gaussians. Design and implement Kalman filters for Gaussian linear filtering problems. Analyze the stochastic properties of Gaussian-linear filtering. Implement particle filters and/or nonlinear extensions of the Kalman filter for non-linear filtering problems. Implement single-target and multi-target tracking methods. Implement methods for feature-based SLAM. General competence: Be able to apply the fundamental estimation principles in cooperation with other disciplines. Consciousness about the role of sensor fusion in automation. Consciousness about the strengths and weaknesses of different sensor fusion methods.

Learning methods and activities

The course is given as a mixture of lectures, written assignments and computer assignments. The computer assignments will involve implementation of sensor fusion methods on real data. A minimum of 3 written assignments and 3 computer assignments must be approved to enter the final exam.

Compulsory assignments

  • Compulsory assignments

Further on evaluation

Written exam counts 70% and assignments count 30% towards the final grade. Continuation exam may be changed to oral exam.

Required previous knowledge

At least one of the following (or equivalent from other universities): TTK4115 Linear system theory, TTT4275 Estimation, detection and classification, TMA4268 statistical learning or TMA4267 Linear statistical models.

Course materials

The course uses a compendium written for the course. The updated compendium will be available before semester start.

More on the course

Version: 1
Credits:  7.5 SP
Study level: Second degree level


Term no.: 1
Teaching semester:  AUTUMN 2023

Language of instruction: English, Norwegian

Location: Trondheim

Subject area(s)
  • Engineering Cybernetics
Contact information
Course coordinator: Lecturer(s):

Department with academic responsibility
Department of Engineering Cybernetics


Examination arrangement: Aggregate score

Term Status code Evaluation Weighting Examination aids Date Time Examination system Room *
Autumn ORD School exam 70/100 C 2023-11-29 09:00 PAPIR
Room Building Number of candidates
Storhall del 1 Idrettssenteret (Dragvoll) 33
SL274 Sluppenvegen 14 1
DI42 Idrettssenteret (Dragvoll) 1
Autumn ORD Graded Assignments 30/100



Room Building Number of candidates
Summer UTS School exam 70/100 C PAPIR
Room Building Number of candidates
  • * The location (room) for a written examination is published 3 days before examination date. If more than one room is listed, you will find your room at Studentweb.

For more information regarding registration for examination and examination procedures, see "Innsida - Exams"

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