Rico贾若童的博客

Computer Vision - Collision Detection Using AABB Tree

AABB Tree

What is an AABB Tree? An Axis-Aligned Bounding Box (AABB) Tree is a bounding volume hierarchy (BVH) where each node stores a box whose sides are parallel to the coordinate axes, guaranteed to full...

Posted by Rico's Nerd Cluster on August 4, 2025

Computer Vision - 3D Gaussian Splatting

3D Gaussian Splatting (3DGS) renders scenes in real time by replacing expensive ray marching with a dense cloud of Gaussian blobs. Each blob is projected onto the image plane (a “splat”) and blende...

Posted by Rico's Nerd Cluster on August 1, 2025

Robotics - Model Predictive Control

Resources https://www.bilibili.com/video/BV1LSXKYEEW3/?spm_id_from=333.337.search-card.all.click&vd_source=ae0bfd67b026e62fbc37ca190dfd1839 https://blog.csdn.net/qq_37746927/article/detai...

Posted by Rico's Nerd Cluster on July 1, 2025

Robot Navigation ESDF

ESDF There are two common approaches for incremental ESDF construction in robotics: Voxblox and Fiesta. Here we describe the core idea behind the 1D Euclidean Distance Transform (EDT) used in Fas...

Posted by Rico's Nerd Cluster on May 10, 2025

Fitness - Eat, Move, and Burn Smarter

Eat, Move, and Burn Smarter: A Simple Guide to Metabolism Most of us think “eat less, move more” is the whole story of weight loss and health. But under the hood, your body is running a sophistica...

Posted by Rico's Nerd Cluster on May 1, 2025

[3D-SLAM 6] Tightly Coupled Lio

iekf

Introduction If the state estimation process jointly optimizes the states related to multiple sensors rather than treating each module independently, the system is considered tightly coupled. For ...

Posted by Rico's Nerd Cluster on April 20, 2025

Robotics - Moré-Thuente Line Search Algorithm

Introduction Introduced in the early 1990s, line search and trust-region strategies have become standard tools for improving the robustness of iterative optimization methods used in LiDAR odometry...

Posted by Rico's Nerd Cluster on April 17, 2025

Robotics - Gauss Newton (GN) and Levenberg Marquardt (LM) Optimizers

Newton's Method, GN, LM optimizers

Newton’s Method Solving An Equation To find an arbitrary equation’s root $f(x) = 0$, We start from an arbitrary point $x_0$ that’s hopefully close to the solution, $x_s$ The main idea of Ne...

Posted by Rico's Nerd Cluster on April 14, 2025

Robotics - [3D SLAM - 5] LIO Hands-On

Spatial Tiling

Issues That I Encountered IMU / LiDAR Synchronization There are several real-world timing problems to handle: The ROS publisher, bag writer, and LiDAR driver are all bursty — LiDAR data can a...

Posted by Rico's Nerd Cluster on April 8, 2025

Underwater LiDAR: How Light-Based Sensing Works Beneath the Waves

Introduction LiDAR (Light Detection and Ranging) is incredibly effective in air, enabling autonomous vehicles, drones, and robots to map their surroundings with centimeter-level precision. But wha...

Posted by Rico's Nerd Cluster on April 7, 2025

Rico's Nerd Cluster