PySPQR 是稀疏矩阵库 SUITESPARSEQR 的 Python 封装。通过 QR 矩阵分解，我们可以高效求解 Ax = b 的线性问题。由于 PySPQR 只是一层封装，因此在安装成功后，使用时会先用 cffi (C Foreign Function Interface) 库来编译 C 文件。
PySPQR 是稀疏矩阵库 SUITESPARSEQR 的 Python 封装。通过 QR 矩阵分解，我们可以高效求解 Ax = b 的线性问题。由于 PySPQR 只是一层封装，因此在安装成功后，使用时会先用 cffi (C Foreign Function Interface) 库来编译 C 文件。
Absolute Trajectory Error (ATE) 是衡量 SLAM 算法的一个重要指标。它描述了 SLAM 估计出来的机器人路径和 ground truth 之间的差异大小。显然 SLAM 算法的表现越好，那么估计出来的路径误差就会越小。
I recently got a new Alienware M15 R6 gaming laptop computer from my lab. After installing Ubuntu (dual boot with Windows), the next thing to do is to utilize its RTX 3080 GPU by installing Nvidia drivers. The problem was with Nvidia drivers installed, the whole system won’t boot up. It just shows a black screen with some system prompt text and stuck.
在工程实践中，客户端需要从服务端拉取一个配置列表来决定自身的功能表现。几乎所有的 feature 都需要通过 settings 来判断自身的状态，例如是否应该开启本功能（如 A/B Testing），该显示什么样的文案，或是需要打开的 H5 链接是什么。可见，读取 settings 是一个非常高频的操作。在以前的工作中，通过运行 profiling 工具，也确实发现读取 settings 是耗时最久的高频函数。
VINS-Mono is a SLAM framework developed by researchers at HKUST. The authors also published its mobile version, VINS-Mobile, which can run on iOS devices. Although they provided a pretty good README file to guide us on how to compile and run it, beginners may still feel confused. In this article, I’m going to document all the problems I met, and hopefully, it can be helpful for others.
Bundle Adjustment (BA) has a broad application in Structure From Motion (SFM) problems, which further optimize the location of points to achieve 3D reconstruction. In recent years, traditional filter-based SLAM algorithms have been taken place by optimization-based SLAM, in which BA is the core part. BA can simultaneously optimize camera poses as well as the locations of 3D points by minimizing the reprojection error.
在使用 VSCode 写 signal 相关的代码时，IntelliSense 提示 sigset_t is undefined。
Oriented FAST and rotated BRIEF (ORB) 特征是 SLAM 中比较常用的一种图像特征。它的准确率并没有 SIFT 高，但是其计算速度更快，可以满足实时特征提取的需求。ORB 特征还具有旋转、尺度不变性的特点，因此很适合应用在 SLAM 场景中。
Update your browser to view this website correctly. Update my browser now