Rico's Nerd Cluster

「离开世界之前一切都是过程」

C++ - Move Semantics, Perfect Fowarding

Universal Reference, `std::move` with Emplace

Universal Reference And Perfect Forwarding Perfect forwarding in C++ preserves both the type and the value category of an input argument. Refresher - Value categories: lvalue rvalue ...

Posted by Rico's Nerd Cluster on April 10, 2024

Robotics - Point Cloud Processing and KNN Problem

Bruteforce KNN Search, KD Tree, OctoTree

Overview Here is a post about the LiDAR Working Principle and different types of LiDARs. One lidar model is the Range-Azimuth-Elevation model (RAE) Its ...

Posted by Rico's Nerd Cluster on April 7, 2024

C++ - Datastructures

Priority Queue

std::priority_queue (Priority Queue, or Max-Heap) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 #include <iostream> #include <...

Posted by Rico's Nerd Cluster on April 4, 2024

Point Cloud Library

Point Infrastructure Point Cloud Members PointCloud Type includes points: point vector PointTypes PointType include: pcl::PointXYZ pcl::PointXYZI pcl::PointXYZRGB pcl::PointXYZRGB...

Posted by Rico's Nerd Cluster on April 4, 2024

ROS Infrastructure Notes

A Running List of ROS Infrastructure I found Useful

ROS Actions The ROS Action really is a mechanism that keeps track of the exeuction state of a task. ROS Actions are built on top of ROS topics. Lifetime of ROS Actions Pending : The goal...

Posted by Rico's Nerd Cluster on April 1, 2024

Robotics - IMU Pre-integration Optimization Implementation

How To Integrate IMU Pre-Integration into G2O with Odometry and GNSS

G2O Recap - What’s An Edge A single edge is a “difference” between two conceptual entities. The entities are conceptual because they don’t need to map exactly to your implementation. For example, ...

Posted by Rico's Nerd Cluster on March 24, 2024

Robotics - IMU Pre-integration Model

Pre-Integration Model

Motivation In previous posts, we have seen the ESKF framework, where IMU data is fused with observations (GNSS, encoders) following this incremenetal order: 1 ESKF Prediction with IMU | ESKF Pred...

Posted by Rico's Nerd Cluster on March 24, 2024

Robotics - [ESKF Series 5] Why Using Error-State Kalman Filter (ESKF) For IMU

ESKF, GINS

ESKF Handles Rotations on SO(3) Better Key issue: Rotations lie on the special orthogonal group SO(3), which is a nonlinear manifold (not a simple vector space like position). A standard EKF typic...

Posted by Rico's Nerd Cluster on March 24, 2024

Robotics - [ESKF Series 4] Full Error-State Kalman Filter (ESKF) in GNSS-Inertial Navigation System (GINS)

ESKF, GINS

If you haven’t checked out a motivational 2D robot example of ESKF, please check here. In this post, $\oplus$ is the “generic add”, which “adds” on a manifold. ESKF (On Manifold) in GINS (GPS-Int...

Posted by Rico's Nerd Cluster on March 24, 2024

Robotics - [ESKF Series 3] Motivational Example Of Error-State Kalman Filter (ESKF)

ESKF

Motivating Example We use the same example as the one in the EKF post: imagine our world has two cones with known locations: c1, c2, and a diff drive with wheel encoders and a cone detector. T...

Posted by Rico's Nerd Cluster on March 24, 2024