I took a version of this class (also taught by Norvig and Thrun) last year, and I definitely found it very enjoyable. I ended up taking it after CS 229 (which covers the mathematical underpinnings of machine learning with some rigor), so I unfortunately couldn't evaluate how good of an introductory course to AI it would be (having covered a lot of the concepts prior), but even still it was a class I enjoyed. Of particular interest was hearing the instructors draw parallels to their work (particularly with Google and the DARPA challenge), which made a lot of the theoretical concepts much more tangible and helped me recognize their practical applications.

you can also see a prior version of the class here: http://www.stanford.edu/class/cs221/