Archive

Robotics General Design Notes

What's New In ROS2

Robotics - ROS2 Basic Pub Sub Node

ROS2 Basics

Robotics - ROS2 Gazebo Differential Drive Onboard

ROS2, Gazebo

Robotics - Differences and Similarities Between ROS1 & ROS2

What's New In ROS2

Robotics - 2024 3D Lidar Selection For Robotics

Livox, Unitree Lidars

RGBD SLAM - Amazon SageMaker Usage Notes

Amazon SageMaker, EC2 Instances

RGBD SLAM - GPU Setup

Summary Of Nvidia Orin Nano Setup, Docker For General Machine Learning

RGBD SLAM - Building A ROS 2 Docker Container For Object Detection

ROS 2 Docker Container For Object Detection Training And Inferencing

RGBD SLAM - What Deteriorates Its Performance

Lessons Learned From My RGBD SLAM Project. Updates Come In Anytime

RGBD SLAM Bundle Adjustment Part 2

RGBD SLAM Backend Introduction

RGBD SLAM - Bundle Adjustment From Zero To Hero, Part 1, Theories

RGBD SLAM Backend Introduction

RGBD SLAM - The PnP Problem

Solving the PnP problem - turning pixels into 3D positions!

More On Motion Estimation

5 Point Algorithm, How to solve DLT, and 8 point algorithm

Motion Estimation From Epipolar Constraints

This is an Introduction of Epipolar Constraints and 2D-2D Motion Estimation

C++ - Writing GTest for ROS

Test! Test! Test!

OpenCV and Eigen Tools

A Running List of Opencv and Eigen Tools

Docker Tools

This blog is a collection of Facts about Docker that I found useful

ROS Infrastructure Notes

A Running List of ROS Infrastructure I found Useful

Robotics Fundamentals - Rotations

Getting back to the fundamentals? Let's roll with rotations

CMake - Storing Data on Google Drive

Google Drive

CMake - Concepts and Options

A Running List of CMake Thingamagigs

My Journey Into CUDA

Various things about CUDA that I learned...

Bash Magic

Bash is great. Here is a list of bash tricks & knowledge points that I found magical

ROS - Using GDB for ROS

GDB is a very useful that allows us to pause at a break point or failure and inspect.

ROS Infrastructure Notes

A Running List of ROS Infrastructure I found Useful

C++ - Linkage

In C++, Linkage is Either External Or Internal

C++ - Static Functions And Keyword

Static Functions And Keyword

C++ - Container Operations

Vector, Map, Algorithms

C++ - BLAS and LAPACK

Scientific Computing Libraries

C++ - Casting

Ever tried convincing your boss that your need for vacation is a 'const' by using const_cast? Welcome to C++ casting!

C++ - Bit Operations

A Mumbo Jumbo List About Bit and Byte Operations

C++ - Erase Remove

An efficient in-place way to remove elements in a container

C++ - Weird & Interesting Stuff I found

Oh boy, C++ is weird ... but also interesting :)

C++ - Virtual Functions and Virtual Inheritance

Virtual is virtually complicated. Dynamic Dispatch, Dreadful Diamond Derivative (DDD) Problem ...

C++ - Useful Macros

Why do we still need macros for C++? Please click in and take a look!

Deep Learning - Spatial Pyramid Pooling

SPP, Ablation Study

Deep Learning - Deeplab Series Theories

Deeplab, ASPP

Deep Learning - MobilenetV2 Hands-On

Inverted Skip Connection, Multiclass Classification

Deep Learning - Tools

wandb, tqdm

Deep Learning - Knowledge Distillation

Knowledge Distillation

Deep Learning - Model Deployment

Model Deployment

Deep Learning - Inferencing

Autograd Profiler

Deep Learning - Strategies Part 1 Before Model Training

Error Metrics, Data Preparation Principles, Transfer Learning, Multi-Task Learning

Deep Learning - Strategies Part 2 Training And Tuning

Bias And Variance, And Things To Try For Performance Improvement From My Experience

Deep Learning - Speedup Tricks

Op Determinisim, Torch Optimizer Tricks, Mixed Precision Training

Deep Learning - Mixed Floating Point Training

FP16, BF16, Mixed Precision Training

Deep Learning - Data Augmentations

Albumentations

Deep Learning - PyTorch Data Loading

RESNET-50 Data Loading, Data Transforms, Custom Data Loading

Deep Learning - Positional Encoding

Transformer Accessory

Deep Learning - Transformers

TODO

Deep Learning - Neural Machine Translation

Hands-On Attention Project

Deep Learning - Speech Recognition

Audio Signal Processing, Spectogram

Deep Learning - Speech Recognition Hands On

GRU-Based Trigger Word Detection

Deep Learning - Attention Mechanism

Bahdanau Attention, Query-Key-Value

Deep Learning - Multi-Head and Self Attention

Multi-Head Attention, Self Attention, Comparison of Self Attention Against CNN, RNN

Deep Learning - Sequence to Sequence Models

seq2seq, encoder-decoder architecture, beam model, Bleu Score

Deep Learning - Word Emojifier Using Dense and LSTM Layers

Emojifier

Deep Learning - Hands-On Embedding Similarity

Similarity and Debiasing

Deep Learning - Hands-On Dinosour Name Generator Using RNN

Deep Learning - PyTorch Versioning

Deep Learning - Word Embeddings, Word2Vec

Word Representation

Deep Learning - RNN Part 3 LSTM, Bi-Directional RNN, Deep RNN

Deep Learning - RNN Part 2 GRU

Vanishing Gradients of RNN, GRU

Deep Learning - RNN

Sequence Models, RNN Architectures

Deep Learning - PyTorch Model Training

Checkpointing

Deep Learning - Ensemble

Ensemble

Deep Learning - Neural Style Transfer

What Conv Net Is Learning

Deep Learning - Face Recognition

Siamese Network, Deep Face

Deep Learning - Face Recognition Prelude

2D Frontalization, 3D Face Alignment

Deep Learning - Hands-On YOLO V1 Transfer Learning

YOLO V1 Theory & Transfer Learning

Deep Learning - Hands-On UNet Image Segmentation From Scratch

UNet

Deep Learning - Performance Metrics

mean Average Precision (mAP), ROC Curve, F1 Score

Deep Learning - Object Detection Notes Part 2

R-CNN

Deep Learning - Image Segmentation

Encoder-Decoder, Fully-Convolutional Networks (FCN), U-Net

Deep Learning - Object Detection Notes Part 1

Convolution Implementation of Sliding Window, OverFeat

Deep Learning - Hands-On ResNet Transfer Learning For CIFAR-10 Dataset

Data Normalization, Conv Net Training

Deep Learning - Classic CNN Models

LeNet-5, AlexNet, VGG-16, ResNet-50, One-by-One Convolution, Inception Network

Deep Learning - CNN Applications

TensorFlow Keras Sequential and Functional Models

Deep Learning - CNN Basics

Filters, Padding, Convolution and Its Back Propagation, Receptive Field

Deep Learning - PyTorch Basics

Neural Network Model Components, Common Operations

Deep Learning - Start Easy, Things I Learned From Training Small Neural Nets

Basic Torch Network With Some Notes on Syntax

Deep Learning - TensorFlow Basics

Nothing Fancy, Just A Basic TF Network

Deep Learning - Softmax And Cross Entropy Loss

Softmax, Cross Entropy Loss, and MLE

Deep Learning - Hyper Parameter Tuning

It finally comes down to how much compute we have, actually...

Deep Learning - Optimizations Part 2

Batch Normalization (BN), Gradient Clipping

Deep Learning - Optimizations Part 1

Momentum, RMSProp, Adam, Learning Rate Decay, Local Minima

Deep Learning - Exploding And Vanishing Gradients

When in doubt, be courageous, try things out, and see what happens! - James Dellinger

Deep Learning - Overfitting

Bias, Variance, Overfitting, Regularization, Dropout

Deep Learning - Batch Gradient Descent

Batch Gradient Descent, Mini-Batch

Deep Learning - Activation and Loss Functions

Sigmoid, ReLU, Tanh, Mean Squared Error, Mean Absolute Error, Cross Entropy Loss, Hinge Loss, Huber Loss, IoU Loss, Dice Loss, Focal Loss

Deep Learning - Auto Differentiator From Scratch

Auto Diff Is The Dark Magic Of All Dark Magics Of Deep Learning

Deep Learning - Introduction

Why Do We Even Need Deep Neuralnets? Data Partition, ML Ops, Data Normalization

Deep Learning - Gradient Checking

First Step To Debugging A Neural Net

Computer Vision - Pinhole Camera Model

This Blog Shows How A Small Magic Peek Hole Captures The World

Computer Vision - Random Tree

Random Tree

Computer Vision - Image Downsampling

Bicubic, Bilinear, Nearest Neighbor Interpolation, Ringing Effect

Computer Vision - ORB Features And Matching

This Blog Shows The Theory and Implementation From Scratch of ORB Features

Computer Vision - Harris Corner Detector

Do Not Cut Corners on Corner Detector - It Will See It

Computer Vision - Warping

Affine Transformation, Perspective Warping, Non-Linear Warping.

Computer Vision - Non Maximum Suppression

Non Maximum Suppression (NMS), Intersection over Union (IoU), TensorFlow non_max_suppression

Computer Vision - Blurring

Gaussian Blurring (Under Active Updates)

Git - Workflows

Git Test Runners

Python - Numpy and Pandas Operations

A Mumbo Jumbo Of Numpy and Pandas Operations and Examples

Python - Python Packaging System

Packaging

Python - Poetry Packaging System and Pip

Poetry, Pip

Python - How To Write Pytest

Pytest Is The New Black (Compared To Unittest)

Python - Jupyter Notebook Common Magic Commands

Jupyter Notebook Common Magic Commands

Python - Python Iterables

Iterable

Python - Functions

Map-Reduce-Filter, Lambda (Under Active Updates)

Python - Python Misc, os, shutil

Print

Docker - Docker Basics

Motication Behind Docker And Docker's Construct

Linux Miscellaneous Thingies

Window Focus, Screenshots, File Differences

Linux - Udev Rules And Systemd Services

Udev Rules Systemd Services

Linux - SSH and X Window System

X Window System, SSH

Math - Distance Metrics

KL Divergence , Chi-Squared Similarity

Math - Stats Basics Recap

Distributions, Covariance & Correlation

Math - Null Space and Singular Value Decomposition (SVD)

How to find Null Space? How to implement that using Singular Value Decomposition (SVD)?

Math - t-SNE

Math - Interpoloation

Linear, Cubic, Bicubic Splines

Math - Matrix Derivatives

Foundation For Everything in Deep Learning and 3D SLAM

Math - Positive Definiteness and Cholesky Decomposition

A matrix is positive definite, if it always sees the glass as half full. But why does the matrix still go to therapy? To break down its issues with Cholesky decomposition. Just Joking.

Math - Eigen Value, Eigen Vector, and Eigen Value Decomposition

What is Eigen Value Decomposition?

Math - Different Types Of Convolutions

Transpose Convolution (U-Net), Dilated Convolution (DeepLab)

Math - Gram Schmidt Orthogonolization And QR Decomposition

Gram Matrix; Super useful in finding forming an orthogonal vector basis, e.g., Singular Value Decomposition

Math - Various Useful Forms Of Matrix Multiplication

Inner & outer Product, Correlation Matrix, etc.