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原创 GTSAM源码解析第二讲：GTSAM中的各种基础类

GTSAM中大量运用了模版、继承和多态，因此各种类之间的关系也是错综复杂。本篇文章主要是讲解GTSAM中各种类之间的关系，即各种类之间的继承关系。为了简化起见，各种模版信息被省略了，并且每个类只写了成员变量，没有详细介绍各个成员函数以及每个类的意义，这个坑留着以后再补。

2023-09-10 18:44:39 391 1

原创 GTSAM源码解析第一讲：GTSAM中用到的各种树

GTSAM还没有完全读完，所以可能会有错误的地方，请大家多多指教，另外很多内容还不够细致，后续会进行填充。

2023-09-10 00:47:24 236 1

原创 Chapter 6 Positive Definite Matrices

Chapter 6 Positive Definite Matrices6.1 Minima, Maxima, and Saddle pointsF(x,y)=7+2(x+y)2−ysin⁡y−x3 f(x,y)=2x2+4xy+y2

2022-02-01 13:24:58 1680

原创 Chapter 5 Eigenvalues and Eigenvectors

Chapter 5 Eigenvalues and Eigenvectors5.1 Introductionconsider the coupled pair of equationsdvdt=4v−5w, v=8 at t=0,dwdt=2v−3w, w=5 at t=0,(1)\begin{aligned}\frac {dv} {dt} =

2022-02-01 13:24:23 1293

Chapter 3 Orthogonality3.1 Orthogonal Vectors and Subspacesthe length ∣∣x∣∣||x||∣∣x∣∣ in RnR^nRn is the positive square root of xTxx^TxxTx:Length square ∣∣x∣∣2=x12+x22+⋯+xn2=xTx(1)\text{Length square } \ \

2022-02-01 13:23:27 1548

原创 Chapter2 Vector Spaces

Chapter2 Vector Spaces2.1 Vector Spaces and SubspacesA real vector space is a set of vectors together with rules for vector addition and multiplication by real numbers.A vector space need to satisfy eight rulesDefinition. A subspace of a vector space

2022-02-01 13:21:28 508

原创 Chapter1 Matrices and Gaussian Elimination

Chapter1 Matrices and Gaussian Elimination1.1 introductionwe want to explain four deeper aspects in this chapter:linear equations lead to geometry of planeswe move to matrix notation, writing the nnn unknowns as a vector xxx and the nnn equations as A

2021-11-04 03:51:06 203

原创 VISSLAM室内停车场车位语义SLAM

AbstractFeatures used in existing SLAM systems are often dynamically movable, blurred and repetitively textured. By contrast, semantic features on the ground are more stable and consistent in the indoor parking environment. Due to their inabilities to per

2021-10-23 04:22:22 1034 2

原创 SLAM问题如何转换成最小二乘问题

本文按照个人理解,从运动方程和观测方程的角度, 分析了如何将SLAM问题转换成最小二乘问题最大后验和最大似然首先是最大似然和最大后验的概念.在非线性优化中，把所有的待估计变量放在一个状态变量中：x=[xP1,⋯ ,xPn,xM1,⋯ ,yMm]T,其中,xP表示位姿和xM表示地图x=\left[{x_{P1},\cdots,x_{Pn},x_{M1},\cdots,y_{Mm} }\right]^\mathrm{T}, \\其中, x_P表示位姿和x_M表示地图x=[xP1,⋯,xPn,x

2021-09-16 23:26:35 200

原创后端优化-----投影模型和BA代价函数

后端优化-----投影模型和BA代价函数先考虑相机投影模型：空间中一点PPP在世界坐标系中的坐标为Pw=[Xw,Yw,Zw]T P_w=[X_w,Y_w,Z_w]^T\,Pw=[Xw,Yw,Zw]T，世界坐标系到相机标系的变换矩阵矩阵为Tcw=[Rcw,tcw]T_{cw}=[R_{cw},t_{cw}]Tcw=[Rcw,tcw]，由此可得空间中一点PPP的相机坐标下的坐标P′P^{'}P′为：P′=RcwPw+tcw=[X′,Y′,Z′]T .P^{'}=R_{cw}P_w+t

2021-01-19 21:03:11 345

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