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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...

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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...

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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...

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RTAB-Map 闭环检测

[TOC] 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...

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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...

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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...

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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...

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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...

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