Autonomous Driving Overview
[TOC]
Overview
Deepdrive is an open simulation platform built to accelerate progress and increase transparency in self-driving AI.
BerkeleyDeepDrive: We seek to merge deep learning with automotive perception and bring computer vision technology to the forefront.
DeepDriving: Learning Affordance for Direct Perception in Autonomo...
百度Apollo课程学习笔记
[TOC]
Overview
the note is from Apollo Self-Driving Car Lesson
Self-Driving Overview
why need self-driving car
5 driving levels
self-driving car history
how self-driving car work
hardware
Open Sofware Stack
RTOS: Ubuntu + Apollo Kernel
ROS
Decentral...
Intel RealSense Cameras: D435i, T265, ZR300
[TOC]
Overview
https://www.intelrealsense.com/developers/
The basics of stereo depth vision
调整realsense相机以获得最佳性能
How-to: Getting IMU data from D435i and T265
RS Cam related scripts (CCV)
Install and Run 1
Install SDK
Add Keys
sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A...
RTAB-Map 闭环检测
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1. 概述
主要特点:
基于外观(Appearance-Based),通过图像相似度查找回环
贝叶斯滤波算法,估计回环的概率
增量式在线构建视觉词典或词袋,针对一个特定环境不需要预训练过程
内存管理模型,保证实时在线运行
代码主要过程:
RTABMap(闭环检测)主入口函数 Rtabmap::process
输入图像image及其id(header.seq)被封装到SensorData类
内存更新(Memory::update)
创建签名(Memory::createSignature)
Add Signature To STM(Memory::addSignatureToStm)
W...
SVO 论文与代码分析总结
[TOC]
概述
SVO: Semi-direct Monocular Visual Odometry
论文: SVO: Fast Semi-Direct Monocular Visual Odometry
代码(注释版):cggos/svo_cg
SVO结合了直接法和特征点法,称为 半直接单目视觉里程计。
初始化
获取第一关键帧和第二关键帧的相对位姿,并建立初始地图,代码主要在 initialization.cpp 中。
(1)处理第一帧 FrameHandlerMono::processFirstFrame
第一帧位姿为单位阵 new_frame_->T_f_w_ = SE3(Matrix3d::Identity(), V...
视觉SLAM位姿估计(总结)
[TOC]
相关代码:
pose_estimation in cggos/slam_park_cg
Features Based Method
2D-2D: Epipolar Geometry
2D-2D相机位姿估计 通常利用 对极几何 进行计算,是单目SLAM初始化时的关键技术。
2D-2D 对极几何 主要涉及到基础矩阵、本质矩阵和单应性矩阵的求解,并从中恢复出旋转矩阵 $R$ 和平移向量 $t$。
计算机视觉对极几何之FEH
同时,还要根据匹配的特征点和计算出的相对位姿进行三角化,恢复出 3D空间点。
计算机视觉对极几何之Triangulate(三角化)
在单目视觉SLAM中,以上过程主要用于SLAM的初始化:计算第二关键帧的...
Cameras Overview
[TOC]
Overview
Sensors/Cameras (ROS Wiki)
0. Basic Knowledge
相机的那些事儿 - 概念、模型及标定
Norman Koren photography: images and tutorials
摄影知识普及:如何用好滤光镜,想进一步玩好摄影必看!
如何理解 ISO、快门、光圈、曝光这几个概念?
Introduction to Shutter Speed in Photography
HUTTER SPEED: A BEGINNER’S GUIDE
EXPOSURE, APERTURE AND SHUTTER SPEED EXPLAINED
camera资料链接整理
Sens...
Camera Control
[TOC]
Interfaces
MIPI DSI CSI LVDS DVP SCCB SPI
Drivers
Video4Linux
V4L for short, is a collection of device drivers and an API for supporting realtime video capture on Linux systems.
v4l2-ctl
sudo v4l2-ctl -d /dev/video0 --list-formats-ext
Firewire
The IEEE1394/USB...
100 post articles, 13 pages.