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[TOC] IMU测量模型（离散时间） IMU测量模型： \[\begin{aligned} {\omega}_m &= \omega + b_{gd} + n_{gd} \\ a_m &= a + b_{ad} + n_{ad} \end{aligned}\] 其中， 离散时间的 Bias： \[\begin{aligned} b_{gd}[k] &= b_{gd}[k-1] + \sigma_{bgd} \cdot w[k] \\ &= b_{gd}[k-1] + \sigma_{bg} \sqrt{\Delta t} \cdot w[k] \\ b_{ad}[k] &= b_{ad}[k-1] + \sigma_{bad} \c...

[TOC] Overview HKUST-Aerial-Robotics/VINS-kidnap: VINS-Fusion with Cerebro vins kidnap安装使用 Install Nvidia Drive and CUDA ubuntu上安装NVIDIA驱动和cuda9.0，及NVIDIA-Docker Install Docker and Nvidia-Docker 用nvidia-docker跑深度学习模型 Run MYNT-EYE-S-SDK roslaunch mynt_eye_ros_wrapper mynteye.launch VINS-Kidnap Docker ...

[TOC] Overview ethz-asl/maplab: An open visual-inertial mapping framework. Maplab Framework Typical workflow Online ROVIOLI frontend Offline maplab console a convenient console user interface and a map manager to access the maps, a plug-in architecture to easily extend it with new commands and algorithms, visu...

[TOC] Overview Alg. PDF: Formula Derivation and Code Analysis of S-MSCKF Code: 本文 1. ImageProcessor initialize loadParameters create FastFeatureDetector imuCallback imu_msg_buffer.push_back(*msg) after the first image stereoCallback get stereo mono images and timestamps createImagePyramids ...

[TOC] Overview 代码：imu_x_fusion System State Vector the nominal-state $\mathbf{x}$ and the error-state $\delta \mathbf{x}$ \[\mathbf{x} = \begin{bmatrix} \mathbf{p} \\ \mathbf{v} \\ \mathbf{q} \\ \mathbf{b}_a \\ \mathbf{b}_g \end{bmatrix} \in \mathbb{R}^{16 \times 1} \quad \delta \mathbf{x} = \begin{bmatrix} \delta \mathbf...

[TOC] Overview 代码：lidar_radar_ekf_fusion System State Vector \[x = [p_x, p_y, v_x, v_y]^T \in \mathbb{R}^{4 \times 1}\] State Transition & Measurement Function State transition function: \[x^{\prime}=f(x)+\nu\] Measurement function: \[z=h\left(x^{\prime}\right)+\omega\] 其中，$f(x)$ 和 $h(x)$ 非线性，通过一阶泰勒展开可被线性化为 \[f(x) \approx f(\m...

version: 0.11.13-kinetic RTAB-Map (Real-Time Appearance-Based Mapping) is a RGB-D, Stereo and Lidar Graph-Based SLAM approach based on an incremental appearance-based loop closure detector. RTAB-Map Saves the Kidnapped Robot [TOC] 概述 RTAB-Map (Real-Time Appearance-Based Mapping) is a RGB-D Graph-Based SLAM approach based on an increme...