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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