原创 PCL點雲特徵小結
PCL 小結1. PCL viewer2. 點雲數據格式2.1 Introduction2.2 優化的格式2.2.1 KD-tree2.2.2 Octree 八叉樹2.2.3 優點3. 特徵點的描述3.1 PFH（point fe
2020-07-05 15:14:14
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原创 C/C++ socket basic example with code
C/C++ socket basic example with codeServerClient from (https://www.geeksforgeeks.org/socket-programming-cc/) Server
2020-07-05 15:14:03
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原创 VINS 代碼閱讀分析 (1)
VINS Fusion 代碼閱讀分析Preintegration basis not includeTop Nodecall from otherProcessprocess_loop_detectionprocess_pose_
2020-07-05 14:34:01
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原创 LOAM, ALOAM, LegoLOAM, hdl graph slam比較
LOAM LOAM: LOAM使用了作者定義的特徵點提取和匹配方法，主要去邊角點和平面點。LOAM use a new defined feature system (corner and flat point), for th
2020-07-05 14:33:51
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原创 CVX based SLAM algorithms paper read
CVX based SLAM algorithms paper read1 Banch and Bound1.1 Practical Global Optimization for Multiview Geometry1.2 Br
2020-07-05 14:33:51
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原创 VINS frontend - change feature's parent
VINS frontend - change feature's parentIntroductionVINS feature managerSwitch parent Introduction We want to change
2020-07-05 14:33:51
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原创 Auto-Encoding Variational Bayes， PGM(概率圖模型)
Auto-Encoding Variational Bayes from PGM概率圖模型1. PGM 概率圖模型1.1 Variational Inference1.2 KL divergence1.3 The Variatio
2020-07-05 14:33:51
原创 PCG(preconditioned conjugate gradient) for RCS(reduced camera system) in SLAM
Preconditioned Conjugate Gradient for Reduced Camera System in SLAM1. Introduction1.1 Linear algebra softwares1.2 P
2020-07-05 14:33:51
原创 Paper read with more formula derivation: Semidefinite Programmin
Paper read with more formula derivation: Semidefinite Programming1. Introduction1.1 SDP2. Duality2.1 Derivation2.2
2020-07-05 14:33:51
原创 Quasi-Newton擬牛頓法（共軛方向法）
Quasi-Newton擬牛頓法（共軛方向法）1. Introduction2. 牛頓法2.1 不能保證收斂2.2 Hessian計算複雜3. 共軛方向法3.1 共軛方向3.2 共軛方向上可以收斂到極小3.3 共軛梯度法得到的是Q
2020-07-05 14:33:51
原创 Paper read :on the unificationof line process,outlier rejection and robust statistics
Paper read :on the unificationof line process,outlier rejection and robust statistics1. Total variance reconstructi
2020-07-05 14:33:51
原创 Conjugate Gradient Methods
Conjugate Gradient Methods1. Introduction2. Algorithms2.1 Krylov sequence2.2 d和x序列2.3 證明我們建立的d序列是一個共軛向量序列2.4 建立更優的a
2020-05-10 15:17:35
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原创 Why least squares so powerful?
1. Residual Distribution 通常，我們使用Generalized Gauss-Markov假設。假設輸出變量的殘差都是zero-mean，服從高斯分佈，同時他們之間的關係使用covariance matr
2020-03-09 10:41:07
原创 Levenberg-Marquardt(LM算法)的理解
Levenberg-Marquardt LM算法 的理解1. convex optimization1.1 convex set1.2 convex function1.3 optimization problem1.4 conv
2020-03-04 20:03:19
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原创 PCL 和 solid state Lidar SLAM
PCL 和 solid state Lidar SLAM1. PCL學習關注點1.1 數據結構-KDtree和八叉樹1.1.1 檢測體素變化1.1.1 對結果濾波1.1.2 濾波之後按照歐式距離生長1.2 可視化1.3 點雲濾波1
2020-03-01 22:19:52
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