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2024

Jun 09Spatial AI Benchmark

2022

Dec 24When SLAM meets XR and Robotics
Nov 22移动机器人常见底盘及其运动学
Sep 05On-Manifold Optimization: Local Parameterization
Jul 24Mapillary API at a Glance
Jul 16Observability and Inconsistency in a Nutshell
Jun 25PyTorch on Ubuntu 18.04
Jun 25Yolo Test on Ubuntu 18.04
Jun 22Image Exposure Controller
Jun 19A-LOAM
Jun 18OpenMVG + OpenMVS build & run
Jun 12Mesh Texturing in a Nutshell (Let There Be Color)
Jun 10Kinect Fusion
Mar 25DBoW Note
Mar 21B-Spline for SLAM
Mar 13TSDF Overview
Mar 08EKF v.s. MSCKF v.s. MAP (VINS-Mono)
Mar 06SLAM中的3D特征参数化表示
Mar 06基于RGBD相机的多模态结构特征融合定位 (Draft)
Jan 31图像频率域分析之频域谱(FDE)
Jan 08Data Association in ORB-SLAM2
Jan 08Lie Group and Lie Algebra: SO(3), SE(3)
Jan 08镜像变换

2021

Dec 30From MAP, MLE, OLS, G-N to IEKF, EKF
Dec 29Multi-Sensor Fusion: IMU and 6DoF Odometry Loosely-Coupled Fusion based on ESKF
Dec 19Infrared(IR) Light of Depth Camera
Dec 17基于ARKit的AR尺子Demo代码分析
Dec 13Multi-Sensor Fusion: Vehicle Localization based on Particle Filter
Dec 12Multi-Sensor Fusion: LiDAR and Radar fusion based on UKF
Dec 12(Paper Reading) A Novel Feedback Mechanism-Based Stereo Visual-Inertial SLAM
Dec 06Zero Velocity Update (ZUPT) in OpenVINS
Nov 28Photometric Calibration
Nov 16imu_tk note
Nov 02Microsoft HoloLens Note
Jul 04Marginalization and FEJ in Sliding Window VIO
Jun 203D Reconstruction Overview
May 27OpenVINS Note
May 24Fiducial Markers & Marker Board
Mar 313D欧式变换之AB两坐标系间变换
Mar 28IMU数据滤波
Mar 28Ubuntu 16.04 下 PVIO 的编译与运行
Feb 06Ego-motion vs Odometry vs Pose Estimation
Feb 04Bundle Adjustment (BA) in vSLAM or SFM

2020

Dec 30EKF v.s. ESKF or Direct v.s. Indirect KF
Oct 10Data Association in MSCKF
Sep 29VINS-Mono LoopClosure
Sep 17the Inflated IMU Noise Params in SLAM
Jul 13图像分析之ORB特征
Jul 12图像分析之高斯滤波
May 24IMU Errors Analysis
May 24IMU Overview
May 24通过 Arduino 从 MPU6050 获取 IMU 数据进行姿态解算，并利用 Processing 进行三维姿态显示
Apr 033D欧式变换之旋转ABC
Mar 09Camera Calibration and Rectification
Feb 17Sensor Calibration Overview
Feb 17机器人自主定位导航概述
Jan 09IMU数据仿真公式推导及代码实现

2019

Dec 18Ubuntu 16.04 下 VINS-Kidnap(Docker) 的安装和使用
Oct 10Maplab 学习笔记
Sep 01S-MSCKF 论文公式推导与代码解析
Aug 28Multi-Sensor Fusion: LiDAR and Radar fusion based on EKF
Aug 28Multi-Sensor Fusion: IMU and GPS loose fusion based on ESKF
Aug 08RTAB-Map 学习笔记
Aug 03RTAB-Map 障碍物检测
Jul 28Autonomous Driving Overview
Jul 27百度Apollo课程学习笔记
Jul 25Intel RealSense Cameras: D435i, T265, ZR300
Jun 27RTAB-Map 闭环检测
May 12SVO 论文与代码分析总结
Apr 29视觉SLAM位姿估计（总结）
Apr 10Camera Control
Apr 10Cameras Overview
Mar 24Ceres-Solver 从入门到上手视觉SLAM位姿优化问题
Mar 16VINS-Mono 论文公式推导与代码解析
Mar 03Ubuntu 16.04 下 VINS-Mono 的安装和使用(RealSense ZR300)
Jan 31计算机视觉对极几何之Triangulate
Jan 27计算机视觉对极几何之FEH
Jan 26Camera Models Summary
Jan 20Ubuntu 16.04 下 PL-SLAM (Stereo) 的安装和使用
Jan 13图像分析之图像特征匹配
Jan 13图像分析之图像特征

2018

Dec 15vSLAM位姿优化中雅克比矩阵的求解
Dec 01图像频率域分析之傅里叶变换
Nov 30图像空间域分析之图像统计特征
Nov 243D欧式变换理论与实践
Nov 18YUV(NV21)图像数据到RGB颜色空间的转换
Oct 23Kalibr 之 Camera-IMU 标定 (总结)
Oct 14Ubuntu 16.04 下 RGBDSLAM-v2 的安装和使用
Sep 09StereoScan(libVISO2) 学习笔记
Jul 22双目立体视觉原理
Jul 01Welcome
Jun 01Post with Header Image
Feb 12PTAM笔记

2017

Oct 11OpenCV编译安装配置总结
Aug 24Computer Vision Libraries
Jul 02Pinhole Camera Model
Jun 18基于数字光栅投影的结构光三维测量技术

2014

Oct 04PID算法调参口诀及C语言程序示例
Aug 21自动化程序设计
Aug 04RAPID 程序设计

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