30 Mar

15 Mar

#### Darpa Create: End-to-end Test

The source code of this project is https://git.uclalemur.com/zhz03/DARPA_CREATE_Code/-/tree/master/

04 Mar

#### Quick Notes of the Code of Darpar Create Project

This notes are quick notes after I have tested all Create code in practice. It contains the terms which easy to make people puzzled and somethings left to do. I marked this note in case to forget before I continue to finish the left parts. Important terms in code: binary_1d: u (event) is binary...

11 Feb

#### [Slides] Big picture : Information-Theoretical Semantic SLAM

Next task: The urgent tests need to be carried out is to find the real pose estimation result only by landmark points without uncertainty evaluate the influence of uncertainty to find the pose estimation effect based on probability map of features After that we can then to test the EM alg...

14 Jan

#### Problems Review of Semantic SLAM and Paper Reivew

This slides present the semantic core prolems and review four representative papers. Further, it told the main problems we met and the potential solutions to those problems. For a brief, the most thing we caring about is the uncertainty of detection or segmentation. Rather than discrete probabiliy...

13 Dec

#### Test results of IMU error function

Purpose This blog is to pose optimization results of the IMU erro function in Tsangkai's project. In this test, I try to use simulation data to test the "imu_error" function to examine whether the code is right or not to perform optimization function. Input and output There are two tests. ...

15 Nov

#### Research Schedule

Research Plan Information-Theoretical Pose Estimation for Probabilistic Semantic Data Association Phase 1: Reproduce EM-Semantic Pose estimation Phase 2: Introduce the Entropy of landmarks Phase 3: Visulization Phase 4: Introduce the Mutual Information Phase 5: Marginalization edges...

01 Nov

#### Paper Reivew and Insufficiency of EM Semantic SLAM

The main paper we reviewed is the Probabilistic Data Association for Semantic SLAM It depicts a promising vista about the probablistic semantic slam. Primarily proposed an EM mathematical framework to consider the detection probabilistic, and using iterative multiply probability way to bring in f...

30 Sep

#### visual imu landmark data simulation

gitlablink Frame Introduction Body frame: IMU Coordinate Cam frame: Camera Coordinate World frame: The firt frame of IMU frames Navigation frame: ENU $$(0,0,-9.81)$$ Core Idea 1. Essential Members in IMU and Camera: imu_acc/imu_acc_bias/acc_noise_sigma/acc_bias_sigm...

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