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原创 模仿学习IQ-Learn:Inverse soft-Q Learning for Imitation
模仿学习IQ-Learn:Inverse soft-Q Learning for Imitation
2024-04-26 19:15:00 569
原创 SayNav: 利用大语言模型在未知环境中导航
SayNav 是一种新颖的规划框架,它利用来自大型语言模型 (LLM) 的人类知识,为自主agent动态生成分步指令,以在未知的大规模环境中执行复杂的导航任务。它还能够有效地泛化学习,以从模拟导航到真实的新环境。
2024-04-17 10:48:36 809
原创 GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation
GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation
2023-12-14 18:45:00 1099
原创 LIW-OAM: Lidar-Inertial-Wheel Odometry and Mapping
LIW-OAM: Lidar-Inertial-Wheel Odometry and Mapping是一种融合激光雷达、惯性测量单元(IMU)和轮式编码器的里程计和建图系统。
2023-12-14 18:15:00 544
原创 八叉树(Octree)和KD树区别?2d tree与3d tree区别?
八叉树(Octree)和KD树区别?2d tree与3d tree区别?
2023-11-16 21:30:00 1050
原创 深入理解SqueezeSegV3点云分割
深入理解SqueezeSegV3点云分割,Squeezesegv3: Spatially-adaptive convolution for efficient point-cloud segmentation
2023-11-15 18:52:58 308
原创 VoxelMap:Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry
VoxelMap论文理解,Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry
2023-11-08 19:51:40 398
原创 CMake error “include could not find load file: FetchContent“
CMake error "include could not find load file: FetchContent",Unknown CMake command "FetchContent_Declare"
2023-10-11 20:15:00 799 1
原创 By not providing “FindGeographicLib.cmake“ in CMAKE_MODULE_PATH
Could not find a package configuration file provided by "GeographicLib"
2023-08-09 19:00:00 492
原创 BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird’s-Eye View Representation
BEVFusion:一种高效且通用的多任务多传感器融合框架。
2023-06-25 22:30:00 808
原创 Point-LIO: Robust High-Bandwidth LiDAR-Inertial Odometry
Point-LIO: Robust High-Bandwidth LiDAR-Inertial Odometry,一种鲁棒且高带宽的LIO算法,具备在极端剧烈运动条件下稳定估计的能力。
2023-06-02 20:15:00 647
原创 ROLL: Long-Term Robust LiDAR-based Localization With Temporary Mapping in Changing Environments
ROLL: Long-Term Robust LiDAR-based Localization With Temporary Mapping in Changing Environments
2023-06-01 20:40:06 528
原创 EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors
EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors
2023-05-26 14:53:57 2022
原创 滑动窗口和边缘化
在SLAM问题中,状态估计问题被建模为最大后验概率问题,在假设为高斯分布的情况下即为最小化损失函数的一个最小二乘问题,并通过泰勒展开转化为增量迭代求解问题。随着SLAM系统的运行,状态变量的规模不断增大,如果使用滑动窗口,只对窗口内的相关变量进行优化,便可以大大减小计算量。4)计算每个残差,对应的Jacobian,并将各参数块拷贝到统一的内存(parameter_block_data)中。1)保留次新帧的IMU测量,丢弃该帧的视觉测量,将上一次先验残差项传递给marginalization_info。
2023-04-04 18:03:40 363 1
AGX下创建使用ROS docker后遇到rviz无法显示的问题
2023-01-18
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