q012-CSDN博客

原创 ROS随笔记（二）

修改pgm地图的轻量软件：GIMP，可通过软件商店直接安装。

2023-09-08 20:45:09 230

原创 ROS随笔记（一）

ROS随笔记，记录遇到的问题，内容琐碎、跨度大、无逻辑框架

2022-10-26 11:34:31 1219 1

原创 ubuntu16.04下安装tensorflow-gpu

ubuntu16.04下安装tensorflow-gpu参考链接https://blog.csdn.net/u014595019/article/details/53732015这里有几处需要注意：1.安装CUDA的版本，终端输入 ubuntu-drivers devices 查看本系统对应的cuda推荐版本参考链接：【ubuntu下查看cuda ，cudnn版本，以及对应tensorflow安装版本_qq_40212975的博客-CSDN博客】https://blog.csdn.net/qq_40

2020-09-27 20:43:41 389

原创视觉SLAM十四讲笔记

**视觉SLAM十四讲笔记**1.视觉SLAM十四讲ch4中Sophus编译错误：https://github.com/gaoxiang12/slambook/issues/20在CMakeLists.txt里加上 set(Sophus_LIBRARIES libSophus.so) ,如果找不到libSophus.so，在make install sophus后用sudo ldconfig更新下其他借鉴：https://blog.csdn.net/haxiongha/article/d

2020-09-08 19:17:29 435

原创 win10下安装最新版HALCON19.05

借鉴博客 https://www.51halcon.com/thread-387-1-1.html1.下载HALCON官网下载地址 https://www.mvtec.com/download/halcon/找了很多教程，终于成功安装好HALCON了，在这里该大家分享一下过程，亲测有效。按照上图中标记选择下载，下载过程应该是需要注册一个邮箱，注册就好。2.安装下载完就可以直接安装...

2019-11-11 20:52:17 10080 4

原创戴尔Vostro 3670 win10系统下安装Ubuntu18.04.3双系统

戴尔Vostro 3670 win10系统下安装Ubuntu18.04.3双系统参考博文1：https://blog.csdn.net/ly_222222/article/details/83591973参考博文2：https://www.cnblogs.com/masbay/p/11627727.html1.下载Ubuntu18.04.3下载地址：https://ubuntu.com/d...

2019-11-06 18:45:40 2184

Factor Graphs for Robot Perception.pdf

We review the use of factor graphs for the modeling and solving of large-scale inference problems in robotics. Factor graphs are a family of probabilistic graphical models, other examples of which are Bayesian networks and Markov random fields, well known from the statistical modeling and machine learning literature. They provide a powerful abstraction that gives insight into particular inference problems, making it easier to think about and design solutions, and write modular software to perform the actual inference. We illustrate their use in the simultaneous localization and mapping problem and other important problems associated with deploying robots in the real world. We introduce factor graphs as an economical representation within which to formulate the different inference problems, setting the stage for the subsequent sections on practical methods to solve them.We explain the nonlinear optimization techniques for solving arbitrary nonlinear factor graphs, which requires repeatedly solving large sparse linear systems. The sparse structure of the factor graph is the key to understanding this more general algorithm, and hence also understanding (and improving) sparse factorization methods. We provide insight into the graphs underlying robotics inference, and how their sparsity is affected by the implementation choices we make, crucial for achieving highly performant algorithms. As many inference problems in robotics are incremental, we also discuss the iSAM class of algorithms that can reuse previous computations, re-interpreting incremental matrix factorization methods as operations on graphical models, introducing the Bayes tree in the process. Because in most practical situations we will have to deal with 3D rotations and other nonlinear manifolds, we also introduce the more sophisticated machinery to perform optimization on nonlinear manifolds. Finally, we provide an overview of applications of factor graphs for robot perception, showing the broad impact factor graphs had in robot perception. （只有第一章内容，我也才发现）

2020-04-27

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