Rico贾若童的博客

Neural Processing Unit

An NPU is a Neural Processing Unit. It is a specialized chip designed to run neural network inference efficiently, especially on edge devices like phones, drones, cameras, robots, and embedded syst...

Posted by Rico's Nerd Cluster on April 16, 2026

[BEV] DETR3D

DETR3D (CoRL 2021) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 6 camera images + calibration ↓ Shared 2D backbone ResNet / VoVNet ↓ FPN multi-scale 2D image feature...

Posted by Rico's Nerd Cluster on April 11, 2026

[BEV] Feature Pyramid Network

FPN = Feature Pyramid Network

Posted by Rico's Nerd Cluster on April 10, 2026

[BEV] BEV Ideas and View Transformation

Training pipelines, multiview geometry, and how to lift image features into BEV

1. The Core Goal of a BEV Network A Bird’s Eye View (BEV) network aims to reconstruct, in real time using only onboard cameras, a local 3D map of comparable quality to what an offline reconstructi...

Posted by Rico's Nerd Cluster on April 8, 2026

[BEV] BEV Introduction: Tesla's Challenges and Architecture

Why per-camera detection falls short, and how BEV solves it

1. Tesla’s Perception Challenges (2021) Before BEV, Tesla’s pipeline detected objects and lanes independently in each camera view and then tried to fuse the results. This created fundamental probl...

Posted by Rico's Nerd Cluster on April 5, 2026

[BEV] BEV Introduction

Understanding L2 and L2+ Perception: Why the Real Challenge Is System Design, Not Just Better Detection When people talk about assisted driving, they often jump straight to compute power, percepti...

Posted by Rico's Nerd Cluster on April 2, 2026

MPPI And Motion Control On My Diff Drive

Remote Claude Code Setup

Motor Control So, tested on carpet, I think it’s about not having (+/-) on the spot that makes it motor controller - aware that the robot turns better using something like: left = ±u righ...

Posted by Rico's Nerd Cluster on March 25, 2026

AI Agent Setup

Remote Claude Code Setup, Claude Session

Remote Claude Code Setup Bring up tailscale: sudo tailscale up Bring up code-server: code-server --bind-addr $(tailscale ip -4):8081 To see password for access cat ~/.config/code-server/con...

Posted by Rico's Nerd Cluster on March 22, 2026

Computer Vision - Charuco Board and Phone Pose Detection

Mission The goal is to generate an object ground-truth pose using an RGB-D camera, a ChArUco board, and a known object CAD model or object dimensions. The ChArUco board gives us a stable metric c...

Posted by Rico's Nerd Cluster on March 18, 2026

Computer Vision - Charuco Board Detection

ChArUco Pose Estimation A ChArUco board is basically a chessboard combined with ArUco markers. An ArUco marker is a square fiducial marker with a binary ID pattern inside it: 1 2 3 4 5 6 marker ...

Posted by Rico's Nerd Cluster on March 16, 2026

Rico's Nerd Cluster