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SLAM
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Quaternion Weighted Averaging Proofs
Quaternion Weighted Averaging1. Objective function2. Further Derivative3. Using the rotation matrix expressionQuaternion Averaging paper1. Objective functionThis paper use the element-wise matrix difference as the objective function.Then extend the Fr原创 2020-08-18 15:58:10 · 259 阅读 · 0 评论 -
CVX based SLAM algorithms paper read
CVX based ICP paper read1 Banch and Bound1.1 Practical Global Optimization for Multiview Geometry1.2 Branch-and-Bound Methods for Euclidean Registration Problems2. Lagrangian Duality2.1 Convex Global 3D Registration with Lagrangian Duality2.2 Solving Quadr原创 2020-06-08 15:58:13 · 703 阅读 · 5 评论 -
Levenberg-Marquardt(LM算法)的理解
谈一下对SLAM中least square的理解1. convex optimization1.1 convex set1.2 convex function1.3 optimization problem1.4 convex optimization2. SLAM Bundle Adjustment1.5 Duality2.1 Gauss Newton's method2.2 LM法2.3 Re...原创 2020-03-03 16:07:52 · 2260 阅读 · 0 评论 -
一些双目相机的总结比较(realsense,mynteye,zedmini)
一些双目相机的总结比较(realsense,mynteye,zedmini)Realsense D435ZED MINI小觅 Mynt Eye D系列Realsense D435Realsense是我最早使用的双目深度相机,我认为realsense最大的优点就是它是市面上各种功能最齐全的深度相机,同时也是提供最完善SDK和文档的双目深度相机。总的来说,是我觉得最适合开始开发的相机。优点:...原创 2020-02-20 10:56:13 · 18351 阅读 · 11 评论 -
Ceres
example officialEigen::Matrix2d ProjectionCameraMapFactor::sqrt_info;ProjectionCameraMapFactor::ProjectionCameraMapFactor(const Eigen::Vector3d &_map_point, const E...原创 2019-12-13 17:32:30 · 179 阅读 · 0 评论 -
PCL 和 solid state Lidar SLAM
Lidar SLAMTraditional LidarTraditional Lidar原创 2019-12-13 11:52:53 · 917 阅读 · 0 评论 -
VINS frontend - change feature's parent
VINS frontend - change feature's parentIntroductionVINS feature managerSwitch parentIntroductionWe want to change the parent(start frame) of a feature point.VINS feature manager// remove the oldes...原创 2019-10-31 16:54:13 · 257 阅读 · 0 评论 -
SLAM BOW词袋重定位
visual bag of words 词袋用于SLAM重定位DBOWBinary featuresImage databaseLoop detectionA. Data base queryB. Matching groupingC. Temporal consistencyD. Efficient geometrical consistency结果分析ORBSLAM2 中的Relocaliza...原创 2019-06-17 15:50:00 · 1456 阅读 · 1 评论 -
LOAM, ALOAM, LegoLOAM, hdl graph slam比较
A-LOAMLOAM:• LOAM use a new defined feature system (corner and flat point), for the detail see its article.• LOAM suppose linear motion within the scan swap (VLOAM further uses visual odometry to e...原创 2019-09-26 17:11:43 · 11589 阅读 · 10 评论 -
VINS 代码阅读分析 (1)
VINS Fusion 代码阅读分析Ros node合理的创建标题,有助于目录的生成如何改变文本的样式插入链接与图片如何插入一段漂亮的代码片生成一个适合你的列表创建一个表格设定内容居中、居左、居右SmartyPants创建一个自定义列表如何创建一个注脚注释也是必不可少的KaTeX数学公式新的甘特图功能,丰富你的文章UML 图表FLowchart流程图导出与导入导出导入(https://githu...原创 2019-07-31 16:49:40 · 540 阅读 · 0 评论