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[TOC] code: cggos/imu_x_fusion

[TOC] Overview The infrared light recording of the devices we tested. The iPad LiDAR and the iPhone LiDAR emit point grids. The sensor of the Note10+ ToF flashes scattered light. The Pixel uses only its cameras. Realsense ZR300 (Structure Light) Realsense D435i (Structure Light) Oppo R11s (ToF) Huawei P...

Code: https://github.com/levantAJ/Measure UIViewController final class ViewController: UIViewController { override func touchesBegan(_ touches: Set<UITouch>, with event: UIEvent?) { resetValues() isMeasuring = true targetImageView.image = UIImage(named: "targetGreen") } override func to...

[TOC] Overview code: cggos/carnd_p3_kidnapped_vehicle 粒子滤波(Particle Filter) 没有线性高斯分布的假设；相对于直方图滤波，粒子滤波(Particle Filter)不需要对状态空间进行区间划分。粒子滤波算法采用很多粒子对置信度进行近似,每个粒子都是对t时刻机器人实际状态的一个猜测。 越接近t时刻的Ground Truth状态描述的粒子，权重越高。 粒子更新的过程类似于达尔文的自然选择(Natural Selection)机制，与当前Sensor测量状态越匹配的粒子，有更大的机会生存下来，与Sensor测量结果不符的粒子会被淘汰掉，最终粒子都会集中在正确的状态附近。 粒子滤波(Particle F...

[TOC] Overview code: cggos/lidar_radar_fusion_ekf_ukf EKF v.s. UKF v.s. PF EKF: 通过 泰勒分解将模型线性化 求出预测模型的概率均值和方差 线性、高斯 对于非线性问题， EKF除了计算量大，还有线性误差的影响 UKF: 通过 不敏变换 来求出预测模型的均值和方差 非线性、高斯 UKF生成了一些点，来近似非线性，由这些点来决定实际x和P的取值范围 跟 粒子滤波器(PF) 不同的是，UKF里Sigma点的生成并没有概率的问题 ...

Overview the filtering-based frontend VIO the optimization-based backend with loop closure the state feedback Inspired by the idea of [38], we feed the optimized state produced by the backend back to the frontend to correct the state estimation The frontend is used for pose estimation and map construction, whereas the bac...

[TOC] Overview The key idea of the zero velocity update (ZUPT) is to allow for the system to reduce its uncertainty leveraging motion knowledge (i.e. leverage the fact that the system is stationary). This is of particular importance in cases where we have a monocular system without any temporal SLAM features. In this case, if we are stationar...

[TOC] Overview https://github.com/tum-vision/mono_dataset_code https://blog.csdn.net/KYJL888/article/details/104893357 https://github.com/tum-vision/online_photometric_calibration Install 安装aruco marker dection，用来标定渐晕 cd mono_dataset_code/thirdparty tar -zxvf aruco-1.3.0.tar.gz cd aruco-1.3.0/ mkdir build cd build cmake .. make sudo...