SLAMBOOK Chapter5: Nonlinear Optimization SLAMBOOK Chapter3: Lie Group and Lie Algebra In Chapter2: we introduced the coordinate transformation and 3d rigid body motion which are the basics to do SLAM. However in SLAM, the pose and maps are unknown and need to estimate and optimize minimize the error. When solving an optimization problem usi jml-note.tistory.com In SLAMBOOK Chapter3: Lie Group and Lie Algebra, we covered that the pose i.. 2023. 5. 7. SLAMBOOK Chapter4: Cameras and Images SLAM(Simultaneaus Localization and Mapping) locates the sensor and percepts environment based on obeserved data. The camera is the most accessible and widely used sensor, so it is important to know how the real world is projected to the image through the camera. Pinhole Camera Models The pinhole camera models is a simple mathematical model used to describe how a camera captures an image of a sce.. 2023. 3. 7. SLAMBOOK Chapter3: Lie Group and Lie Algebra In Chapter2: we introduced the coordinate transformation and 3d rigid body motion which are the basics to do SLAM. However in SLAM, the pose and maps are unknown and need to estimate and optimize minimize the error. When solving an optimization problem using the form of a matrix is difficult, Lie Group and Lie Algebra are introduced to simplify the solution. Group The rotation matrix and transfo.. 2023. 2. 19. SLAMBOOK Chapter2: 3D Rigid Body Motion The SLAM(Simulataneous Localization and Mapping) is computational algorithm used in robotics and autonomous systems to construct a map of an unknown environment while simulateously keeping track of the robot's position within that environment. Since SLAM presupposes the movement of the robot, it is necessary to know how to represent the movement consists of rotation and translation. Transforms B.. 2023. 2. 14. SLAMBOOK GitHub - gaoxiang12/slambook-en: The English version of 14 lectures on visual SLAM. The English version of 14 lectures on visual SLAM. - GitHub - gaoxiang12/slambook-en: The English version of 14 lectures on visual SLAM. github.com SLAM, or Simultaneous Localization and Mapping, is a rapidly growing field in the world of robotics and computer vision. The technology has revolutionized the way rob.. 2023. 2. 13. IMU Preintergration on Maniforld for Efficient Visual-Inertial Maximum-a-Posteriori Estimation(2) IMU Preintergration on Maniforld for Efficient Visual-Inertial Maximum-a-Posteriori Estimation IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation - YouTube 정말 오랜만의 포스팅입니다. 최근들어 이것저것 하는것이 많아져 글을 올리지 못했는데 IMU calibrat.. jml-note.tistory.com 이전 포스팅엔 페이퍼를 읽기 위해 약간의 백그라운드를 적었습니다. 쓰다보니 논문 내용은 하나도 못담고 Lie Group과 Lie Algebra에 대한 내용만 적었네요. IMU Model 다시 돌아가서 IMU의 .. 2022. 7. 25. 이전 1 2 3 4 ··· 6 다음
