shannon112

Ceres Library Source: https://github.com/ceres-solver/ceres-solver Documents: http://ceres-solver.org/ Intro by Dr. Sameer Agarwal: https://www.youtube.com/watch?v=u_YC1haw48k Tutorial: http://ceres-solver.org/tutorial.html --- Related work: https://github.com/ethz-asl/okvis (OKVIS)(VI-SLAM) https://sourceforge.net/projects/slam-plus-plus/ (SLAM++)(V-SLAM) https://github.com/HKUST-Aerial-Robotics/VINS-Mono (VINS)(VI-SLAM) https://github.com/cartographer-project/cartographer_ros (cartographer)(lidar-SLAM)

g2o Library Kümmerle, Rainer, et al. "g 2 o: A general framework for graph optimization." 2011 IEEE International Conference on Robotics and Automation. IEEE, 2011. Source: https://github.com/RainerKuemmerle/g2o Document1: https://github.com/RainerKuemmerle/g2o/tree/master/doc/doxygen Document2:...

GTSAM Library Dellaert, Frank. Factor graphs and GTSAM: A hands-on introduction. Georgia Institute of Technology, 2012. Source: https://github.com/borglab/gtsam Tutorial: https://gtsam.org/tutorials/intro.html Document: https://gtsam.org/

iSAM Library Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J., and Dellaert, F. (2012). iSAM2:Incremental smoothing and mapping using the Bayes tree.Intl. J. of Robotics Research, 31:217–236. Kaess,...

SLAM++ Library Ila, Viorela, et al. "SLAM++-A highly efficient and temporally scalable incremental SLAM framework." The International Journal of Robotics Research 36.2 (2017): 210-230. Polok, Lukas, et al. "Incremental Block...

example of Matrix Decomposition: Eigenvalue decomposition vs SVD ICP: SVD vs Least Squares Non-Linear Least Squares https://github.com/shannon112/notebooks

Binomial Distribution for a single trial, i.e., n = 1, the binomial distribution is a Bernoulli distribution. https://en.wikipedia.org/wiki/Binomial_distribution PMF : example: X=執五次硬幣正面的次數，p=0.5 example: X=投五次籃進的次數，p=0.3 https://www.youtube.com/watch?v=O12yTz_8EOw https://www.youtube.com/watch?v=FI8xtVaI068 https://www.youtube.com/watch?v=vKNpQ_KTXvE https://www.youtube.com/watch?v=H0ZgOGWUcJw

Normal (or Gaussian or Gauss or Laplace–Gauss) distribution https://en.wikipedia.org/wiki/Normal_distribution PDF : P = integrate pdf(x) from x=0 to 1 = cdf(1) P = integrate pdf(x) from x=2 to 5 =...

Central Limit Theorem https://en.wikipedia.org/wiki/Central_limit_theorem 中央極限定理是機率論中的一組定理。中央極限定理說明，在適當的條件下，大量相互獨立隨機變數的均值經適當標準化後依分布收斂於常態分布。這組定理是數理統計學和誤差分析的理論基礎，指出了大量隨機變數之和近似服從常態分布的條件。 n = sample size taking several time in sample size to calculate mean/sum/or.... -> stack each time result mean/median/or.... to make a frequency plot ->...

Camera Calibration * Theory * Mathematic: https://www.mathworks.com/help/vision/ug/camera-calibration.html * Library1: https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#bouguetmct * Library2: https://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html * Processing: http://wiki.ros.org/image_pipeline/CameraInfo * Data format(topic name): http://wiki.ros.org/rgbd_launch * Papers * Zhang, Z. “A Flexible New Technique...