如何快速入门三维重建？

[TOC] Overview docs: https://docs.openvins.com/ code: https://github.com/rpng/open_vins paper 12345678@Conference{Geneva2020ICRA,Title = {OpenVINS: A Research Platform for Visual-Inertial Estima

[TOC] Overview Raspberry Pi position detection using fiducial tags AprilTag AprilTag is a visual fiducial system, useful for a wide variety of tasks including augmented reality, robotics, and camera

[TOC] Frame A to B Frame B 的基向量 到 Frame A 的基向量 \[ B = \begin{bmatrix} 1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 \end{bmatrix} \Longrightarrow A = \begin{bmatrix} 0 &

[TOC] 一阶低通滤波 一阶低通滤波，又叫 一阶惯性滤波，其算法公式为： \[ Y_k = \alpha X_k + (1-\alpha) Y_{k-1} \] 根据安卓开发者文档中提供的低通滤波算法： 123456789101112131415161718// https://developer.android.com/guide/topics/sensors/sensors_motion#j

[TOC] Overview code: https://github.com/zju3dv/PVIO paper 1234567891011@inproceedings{PRCV-LiYHZB2019, author={Jinyu Li and Bangbang Yang and Kai Huang and Guofeng Zhang and Hujun Bao}, title =

[TOC] Ego-motion Ego-motion is defined as the 3D motion of a system (ex camera) within an environment. Visual Odometry Odometry is generally used to refer to an elapsed or relative position and ori

[TOC] Overview EKF and ESKF: EKF: Extended Kalman Filter --> Direct Kalman Filter ESKF: Error State Kalman Filter --> Indirect Kalman Filter Estimator State Types: True State Nominal State Er

Install VirtualBox download: https://www.virtualbox.org/wiki/Downloads install 1sudo dpkg -i virtualbox-6.1_6.1.36-152435_Ubuntu_bionic_amd64.deb Install VirtualBox Extension Pack download: https:/

[TOC] MSCKF 123456789101112typedefstd::map<FeatureIDType, Feature, std::less<int>, Eigen::aligned_allocator<std::pair<const FeatureIDType, Feature> > > MapServer;struct Featur

[TOC] Overview 忽略掉了 shift to base frame：w_t_vio, w_r_vio loop closure 初始化 PoseGraph 设置 设置参数 启动线程 PoseGraph::optimize4DoF 或 PoseGraph::optimize6DoF 加载 词典文件 启动线程 SystemROS::loop_closing 线程 l

ref: https://vision.in.tum.de/data/datasets/visual-inertial-dataset

[TOC] CImg for Android Add the following code in CImg.h from https://github.com/dtschump/CImg.git to NOT use Xlib.h: 12#undef cimg_display#define cimg_display 0 build OpenCV for Android https://blog.

[TOC] Overview Oriented FAST + Rotated BRIEF Feature/Corner Detector FAST方法 -- 定位特征点坐标 矩方法 -- 特征点方向 非极大值抑制 -- 特征点响应值（分数） 图像金字塔 -- 特征点具有 尺度不变性 Descriptor BRIEF -- 特征点描述子 特征点方向 -- 描述子具有 旋转不变

[TOC] 高斯函数 一维高斯函数 \[ f(x) = A \cdot e^{-\frac{(x-\mu)^2}{2{\sigma}^2}} \] 多维高斯函数 \[ f_{X}\left(x_{1}, x_{2}, \cdots, x_{k}\right) = A \cdot \exp \left(-\frac{1}{2}(X-\mu)^{T} \Sigma^{-1}(X-\mu)\right)

[TOC] Overview 确定性误差（六面法 标定） 开机后恒定的零偏误差（bias） 比例因子误差（scale factor） 轴偏及非正交误差（misalignment errors and non-orthogonality） 非线性误差（non-linearity） 温度误差（thermal noise） 陀螺仪还包含加速度的变化引起的误差（g-dependent noise）

[TOC] Overview 陀螺仪知道“我们转了个身”，加速计知道“我们又向前走了几米”，而磁力计则知道“我们是向西方向”的。 9轴传感器：3轴加速度计、3轴陀螺仪、3轴磁力计 飞行控制器——惯性测量模块IMU introlab/OpenIMU: Open Source Analytics & Visualisation Software for Inertial Measuremen

Overview A Guide To using IMU (Accelerometer and Gyroscope Devices) in Embedded Applications Arduino UNO & MPU6050 GY521 Arduino教程：MPU6050的数据获取、分析与处理 How to Interface Arduino and the MPU 60

[TOC] http://stackoverflow.com/questions/8744994/android-camera-set-resolution http://stackoverflow.com/questions/10913181/camera-preview-is-not-restarting http://stackoverflow.com/questions/1091368

[TOC] Overview in ~/.bashrc(or /etc/profile or /etc/environment) 1234567891011export JAVA_HOME=/home/cg/tools/android_tools/jdk1.8.0_251export JRE_HOME=$JAVA_HOME/jreexport CLASSPATH=.:$JAVA_HOME/lib