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原创 Qt Creator 打开 catkin 工程之添加ROS环境变量

修改Qt Creator快捷方式,使从快捷方式启动Qt Creator的同时加载ROS环境变量。打开terminal,输入下面的命令:gedit ~/.local/share/applications/DigiaQtOpenSource-qtcreator.desktop这条命令将打开DigiaQtOpenSource-qtcreator.desktop快捷方式文件,可以看到文件内容如下:[Desk

2017-08-11 17:29:14 1811

原创 gRPC 源码编译安装

1、Pre-requisitesLinux $ [sudo] apt-get install build-essential autoconf libtoolIf you plan to build from source and run tests, install the following as well: $ [sudo] apt-get install libgflags-dev libg

2017-08-07 20:19:32 3482

原创 OpenCV笔记

一、std::vector< >vector之所以被认为是一个容器,是因为它能够像容器一样存放各种类型的对象,简单地说,vector是一个能够存放任意类型的动态数组,能够增加和压缩数据。std::vector<int>vInts;1、创建一个vector创建一个Widget类型的空的vector对象:vector<widget> vWidgets;创建一个包含500个Widget类型数据的vecto

2017-08-05 16:18:06 371

原创 linux常用命令

1、压缩,解压命令sudo tar -zcvf ubuntu-rootfs.tar.gz ubuntu-rootfs 将当前目录的文件压缩 sudo tar -zcvf ubuntu-rootfs.tar.gz * 把当前目录所有的文件压缩sudo tar zxvf abc.tar.gz 解压当前目录压缩包到当前目录 sudo tar zxvf /home/abc.tar.gz -C /home t

2017-08-05 16:13:22 309

原创 Cartographer ROS for TurtleBots Building & Installation

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This repository provides Cartographer SLA

2017-08-05 15:08:30 644

原创 OpenCV笔记

一、std::vector    vector之所以被认为是一个容器,是因为它能够像容器一样存放各种类型的对象,简单地说,vector是一个能够存放任意类型的动态数组,能够增加和压缩数据。 std::vector vInts;1、创建一个vector 创建一个Widget类型的空的vector对象: vector vWidgets; 创建一个包含500个Widget类型数据的ve

2017-08-01 15:45:23 458

Serial_Node.tar.gz

实现机器人底盘与上层ROS通信协议功能,成功接收机器人底盘里程计,IMU, 电压等传感器信息。并实现将里程计和IMU通过发布话题方式发布到ROS中,方便系统其他节点订阅使用。

2017-11-06

urg_node.tar.gz

URG雷达驱动软件,通过ROS工程编译,通过运行roslaunch urg_node urg_lidar.launch,便可发布/scan消息

2017-11-06

Visual-Inertial Monocular SLAM with Map Reuse.pdf

Abstract— In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However these approaches lack the capability to close loops, and trajectory estimation accumulates drift even if the sensor is continually revisiting the same place. In this work we present a novel tightly-coupled Visual-Inertial Simultaneous Localization and Mapping system that is able to close loops and reuse its map to achieve zero-drift localization in already mapped areas. While our approach can be applied to any camera configuration, we address here the most general problem of a monocular camera, with its well-known scale ambiguity. We also propose a novel IMU initialization method, which computes the scale, the gravity direction, the velocity, and gyroscope and accelerometer biases, in a few seconds with high accuracy. We test our system in the 11 sequences of a recent micro-aerial vehicle public dataset achieving a typical scale factor error of 1% and centimeter precision. We compare to the state-of-the-art in visual-inertial odometry in sequences with revisiting, proving the better accuracy of our method due to map reuse and no drift accumulation.

2017-11-06

Robust Visual Inertial Odometry Using a Direct EKF-Based Approach.pdf

Abstract— In this paper, we present a monocular visual-inertial odometry algorithm which, by directly using pixel intensity errors of image patches, achieves accurate tracking performance while exhibiting a very high level of robustness. After detection, the tracking of the multilevel patch features is closely coupled to the underlying extended Kalman filter (EKF) by directly using the intensity errors as innovation term during the update step. We follow a purely robocentric approach where the location of 3D landmarks are always estimated with respect to the current camera pose. Furthermore, we decompose landmark positions into a bearing vector and a distance parametrization whereby we employ a minimal representation of differences on a corresponding σ-Algebra in order to achieve better consistency and to improve the computational performance. Due to the robocentric, inverse- distance landmark parametrization, the framework does not require any initialization procedure, leading to a truly power-up-and-go state estimation system. The presented approach is successfully evaluated in a set of highly dynamic hand-held experiments as well as directly employed in the control loop of a multirotor unmanned aerial vehicle (UAV).

2017-11-06

Keyframe-Based Visual-Inertial Odometry Using Nonlinear Optimization.pdf

Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate Visual-Inertial Odometry or Simultaneous Localization and Mapping (SLAM). While historically the problem has been addressed with filtering, advancements in visual estimation suggest that non-linear optimization offers superior accuracy, while still tractable in complexity thanks to the sparsity of the underlying problem. Taking inspiration from these findings, we formulate a rigorously probabilistic cost function that combines reprojection errors of landmarks and inertial terms. The problem is kept tractable and thus ensuring real-time operation by limiting the optimization to a bounded window of keyframes through marginalization. Keyframes may be spaced in time by arbitrary intervals, while still related by linearized inertial terms. We present evaluation results on complementary datasets recorded with our custom-built stereo visual-inertial hardware that accurately synchronizes accelerometer and gyroscope measurements with imagery. A comparison of both a stereo and monocular version of our algorithm with and without online extrinsics estimation is shown with respect to ground truth. Furthermore, we compare the performance to an implementation of a state-of-the-art stochasic cloning sliding-window filter. This competititve reference implementation performs tightly-coupled filtering-based visual-inertial odometry. While our approach declaredly demands more computation, we show its superior performance in terms of accuracy.

2017-11-06

Efficient Sparse Pose Adjustment for 2D Mapping.pdf

Pose graphs have become a popular representation for solving the simultaneous localization and mapping (SLAM) problem. A pose graph is a set of robot poses connected by nonlinear constraints obtained from observations of features common to nearby poses. Optimizing large pose graphs has been a bottle

2017-11-06

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