Quaternion type Hamilton $JPL$ 1 Components s order $( q_w$ , $\mathbf{q} _v)$ $\left(\mathbf{q}_v\:,\:\right.$ $q_w)$ 2 $\operatorname{Algebra}$ Handedness $ij=k$ Right-...
Quaternion Conventions
px4ctrl understanding and tunning
状态机 Px4ctrl的状态机对象如下： class PX4CtrlFSM { public: // somedata private: State_t state; // Should only be changed in PX4CtrlFSM::process() function! AutoTakeoffLand_t...
[Paper Reading] Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry using SE2(3) Based Exact IMU Pre-integration
The main contributions of this work are the following: A novel factor graph formulation that tightly fuses tracked features from...
CSLAM Front End Summary
CSLAM Front End CSLAM 的前端与单机的前端不同在于多了基于地图的测量： \(z^{t_k \rarr t_l}_{i \rarr j}\) Multi S-Graphs: An Efficient Distributed Semantic-Relational Collaborative SLAM 原文：arXiv:2401.05152 针对什么问题？...
[Paper Reading] MAVIS: Multi-Camera Augmented Visual-Inertial SLAM using SE2(3) Based Exact IMU Pre-integration
多相机系统的好处是，更大的FOV，对环境的全向观测，提高定位精度和弱纹理场景下的鲁棒性。 坏处则是更多的传感器带来了更多的计算消耗。The proper handling of measurements from all cameras is crucial for balancing accuracy, robustness, and computational efficiency. [14] extended...
[Paper Reading] AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System
AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System [XHYWX24] arxiv:2408.03520 author: Kuan Xu , Yuefan Hao , Shenghai Yuan...
point and line features review
Point features Line features EDline EDLINES: REAL-TIME LINE SEGMENT DETECTION BY EDGE DRAWING (ED) [AT11] ICIP2011 author: Cuneyt Akinlar and...
[Paper Reading] VINS-Multi: A Robust Asynchronous Multi-camera-IMU State Estimator
VINS-Multi: A Robust Asynchronous Multi-camera-IMU State Estimator [WXS24] Arxiv 2024 Author: Luqi Wang, Yang Xu and Shaojie Shen 针对的问题： 单相机鲁棒性不够（某些场景下稳定的特征点过少）...
[Paper Reading] Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization
Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization [WGWF24] RSS 2024 Author: Tianyue Wu, Zaitian Gongye, Qianhao Wang,...
XI35 装机全过程
本篇记录 XI35 机体的组装过程，以及飞控、ORIN的配置，最终实现 fast-drone-250 的过程。 所有的 配件型号 及 相关资料 可在 配件型号采购表 中找到。 总重 540g -> 780g（安装了相机和orin） 目录： 1 机体安装步骤 2...
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