SLAM

This page includes all about SLAM.

Contents:

• Introduction of SLAM
  • SLAM
  • Probability problem
    • MAP
    • EM
    • Optimization
  • What is it?
  • Usage
• Pretreatments
  • Lie group and Lie algebra
  • Calibration
    • Camera
    • IMU (Inertial measurement unit)
  • Photometric calibration
    • gamma correction
    • Exposure time
    • Vignetting effect
    • CRF camera response fcn
    • Calibration
    • Online calibration
  • Image Blurry
    • Cameras
    • Point Spread Function (PSF)
    • Laplacian
    • Singular feature
    • Alpha Channel
  • Image Deblur
  • Reference
• Front End : Odometry
  • Feature Extraction And Match
  • Direct Methods
    • SVO (Fast Semi-Direct Monocular Visual Odometry)
    • DSO(Direct sparse odometry)
  • Pose Calculation
  • Match With Map
  • Multi-sensor Fusion
  • Our VIO front-end
    • Feature Extraction
    • Optical flow
  • Reference
• VINS code
  • Top Node
    • call from other
    • Process
    • process_loop_detection
    • process_pose_graph
  • VINS estimator
    • preintegration
    • processIMU
    • processImage
    • initialStructure
    • solveOdometry
    • slideWindow
    • optimization
  • Marginalization
    • ResidualBlockInfo
    • MarginalizationInfo
    • MarginalizationFactor
  • Feature Manager
  • Global SfM
    • Main process loop
    • triangulate point
    • solveFrameByPnP
    • triangulateTwoFrames
    • construct
  • VisualIMUAlignment
    • Gyroscope Bias Calibration
    • TangentBasis
    • LinearAlignment
    • RefineGravity
  • Factors
    • Projection Factor
    • DT optimization
  • Map Reuse
    • Keyframe
    • Loop Detection
    • Loop Correction
    • Map save
    • Summary
  • Reference
• Hessian Matrix
  • Simulation 1
  • Simulation 2
  • Nullspace
    • Example
    • First Estimate Jacobian
  • Gauge Freedom
    • Analysis methods
    • Problem elaboration
    • Prior Gauge
    • Error and cost result
    • Covariance processing
  • Reference
• Paper read
  • Gauge Freedom
    • 比较/分析手段
    • 问题阐述
    • Prior Gauge的处理
    • 误差和运算cost结果
    • 协方差处理
• Marker Localization
  • Pipeline
  • PreTreatment
    • Marker Prepare
    • Image Preprocess
  • Feature Extraction
  • Patch Match
    • Coefficient
    • Match Process
  • With SLAM
    • Stereo Camera Devices
    • VINS
  • Further update thought (22/10/2019)