서론
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Robotics, Deep Learning, and SLAM
Ubuntu 18.04에서 OpenCV 3.2에서 OpenCV 3.4로 업그레이드 하기
사경을 해메는 OpenCV 버전 업그레이드
시작의 근원
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IMU Preintegration (Easy) - 5. IMUPreintegration in LIO-SAM
Line-by-line explanations of IMU Preintegration in LIO-SAM
최종적으로 LIO-SAM 내부의 imuPreintegration.cpp 코드가 어떻게 작동되는지를 알아본다. 코드가 꽤 긴데, 원 코드는 여기 참조.
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IMU Preintegration (Easy) - 4. Derivation of Preintegrated IMU Measurements
Preintegrated IMU Measurements
본 글에서는 \(i\)와 \(j\) 번째의 keyframe 사이의 총 K개의 IMU measurement을 어떻게 preintegration하는지에 대해서 설명한다.
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IMU Preintegration (Easy) - 3. Derivation of IMU Model and Motion Integration
Motion Integration by using acceleration and angular velocity
Derivation of IMU Model and Motion Integration
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IMU Preintegration (Easy) - 2. Preliminaries (2) 3D Rotation and Uncertainty
Uncertainty Description in SO(3)
Preliminaries of IMU Preintegration (2) Uncertainty Description in SO(3)
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IMU Preintegration (Easy) - 2. Preliminaries (1) Keyframe
Definition of Keyframe
Preliminaries of IMU Preintegration (1) Definition of Keyframe
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IMU Preintegration (Easy) - 1. Introduction
Easy explanations of "On-Manifold Preintegration for Real-Time Visual-Inertial Odometry"
IMU Preintegration for Beginners
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LeGO-LOAM Line by Line - 3. FeatureAssociation (3)
Relative Pose Estimation via Two-stage Optimization
FeatureAssociation in LeGO-LOAM (3) Relative Pose Estimation via Two-stage Optimization
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LeGO-LOAM Line by Line - 3. FeatureAssociation (2)
Corner and Planar Feature Extraction
FeatureAssociation in LeGO-LOAM (2) Edge and Planar Feature Extraction
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