• Pseudo-inverse as an optimization
• Adding velocity constraints
• Adding position and acceleration constraints
• Joint centering
• Tracking a desired pose
• Alternative formulations

• Exercises

Chapter 4: Geometric Pose Estimation

• Cameras and depth sensors

• Depth sensors
• Simulation

• Representations for geometry
• Point cloud registration with known correspondences
• Iterative Closest Point (ICP)
• Dealing with partial views and outliers [...] and the idea that birds with articulate