Home

Overview https://github.com/youngguncho/awesome-slam-datasets KITTI Vision Benchmark Suite Lifelong Robotic Vision SLAM Dataset Sample Params TUM VI   <img src=/img/post/benchmark/tum_vi.png width=”80%”/> TartanAir   <img src=/img/post/be...

When SLAM meets XR When SLAM meets Robotics

Overview 1 通常移动机器人依赖电机驱动车轮实现行走功能。机器人底盘结构不同，其运动学也完全不同。根据不同类型车轮，常见的底盘结构差速运动模型、滑移运动模型、阿克曼运动模型、全向轮运动模型等等。 下图中，（a）双轮差速式机器人，（b）阿克曼式机器人，（c）四轮驱动机器人，（d）双履带式机器人，（e）麦克纳姆轮全向机器人，（f）全向轮全向机器人，（g）四轮驱动四轮转向机器人 2 ROS 中运动学分析为正解（Forward kinematics）和逆解（Inverse Kinematics）两种。 正解 或 正运动学模型（forward kinematic model）：是将获得的机器人底盘速度指令 /cmd_vel 转化为每个车轮的实际...

Overview Manifold Space vs Tangent Space Jacobian w.r.t Error State Jacobian w.r.t Error State vs True State According 1 2.4, The idea is that for a $x \in N$ the function $g(\delta) := f (x \boxplus \delta)$ behaves locally in $0$ like $f$ does in $x$. In particular $|f(x)|^2$ has a minimum in $x$ if and only if $|g(\delta)|^2$ ha...

Embed images 1 The iframe tag below would show a 640x480px image with ID 550092599700936. <iframe src="https://www.mapillary.com/embed?image_key=550092599700936&style=classic" height="480" width="640" frameborder="0"> </iframe> ](https://www.mapillary.com/developer/api-documentation/) [Mapilla...

[TOC] Overview What is observability ? In control theory, observability is a measure for how well internal states of a system can be inferred by knowledge of its external outputs. What is consistency ? A recursive estimator is consistent when the estimation errors are zero-mean and have covariance matrix equal to that reported by the...

[TOC] YOLO Darknet: Open Source Neural Networks in C YOLO: Real-Time Object Detection Build / Install Detection Using A Pre-Trained Model ./darknet detect cfg/yolov3.cfg yolov3.weights data/dog.jpg output layer filters size input output 0 conv 32 3 x 3 / 1 60...

[TOC] Install PyTorch locally https://pytorch.org/get-started/locally/ Conda (Python) conda create -n torch python=3.9 conda activate torch # select one conda install pytorch -c soumith conda install pytorch torchvision cuda80 -c soumith conda install pytorch==1.0.0 torchvision==0.2.1 cuda80 -c pytorch # PyTorch 1.10 conda insta...