Rico贾若童的博客

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

ROS 2 Docker Container For Object Detection Training And Inferencing

Dockerfile I installed jupyter notebook so I can experiment with it remotely. 1 2 3 4 # -U is to upgrade to the latest version RUN python3 -m pip install -U jupyter notebook # jupyter notebo...

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

RGBD SLAM - What Deteriorates Its Performance

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

“Yeah It’s on. But wait, it doesn’t look good.” Motion Blur Motion blur could cause lower number of features and feature mismatching. These will further cause huge errors in PnP solving. Belo...

Posted by Rico's Nerd Cluster on July 15, 2024

RGBD SLAM Bundle Adjustment Part 2

RGBD SLAM Backend, G2O

If you haven’t, please check out the previous article on how to formulate SLAM as an optimization problem Why Graph Optimization Frontend and Backend: the front end gives the transform from one f...

Posted by Rico's Nerd Cluster on July 12, 2024

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

RGBD SLAM Backend Introduction

What is Optimization? \[\begin{gather*} min F(x) \end{gather*}\] Above is an optimization problem. Any optimization needs: a cost function, target variables, and constraints. In SLAM, most proble...

Posted by Rico's Nerd Cluster on July 11, 2024

RGBD SLAM - The PnP Problem

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

Intro The Perspective-n-Point (PnP) problem is a very important technique in RGBD SLAM. In RGBD SLAM, it’s quite common to see PnP as a front end , and bundle adjustment as the backend. In 2D-2D M...

Posted by Rico's Nerd Cluster on July 9, 2024

More On Motion Estimation

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

Why Do We Still Need Multi-View Geometry, In 2024? LLMs are everywhere now. However, they are rarely seen in 3D scene reconstruction except for those on depth learning from single images. Dong et ...

Posted by Rico's Nerd Cluster on July 5, 2024

Motion Estimation From Epipolar Constraints

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

Intro This blog is inspired by this great great book: 14 Lectures in Visual SLAM, authored by Dr. Gao Xiang et al. This article will walk you through 8-point algorithm when features lie on differe...

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

Docker Compose Profile

Multi-Container Workflow

Simple Example On Docker Profile Profiles help you adjust your Compose application for different environments or use cases by selectively activating services. Services can be assigned to one or mo...

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

Docker Ignore

A .dockerignore file lives next to your Dockerfile and controls which files are excluded from the Docker build context. Why use .dockerignore? ✅ Faster builds: smaller context → quic...

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

Docker Workflow And Networking

VSCode Devcontainer

Pulling Containers & Networking When you run a container for the first time, Docker pulls the image and sets up networking based on defaults or your configuration. Bridge Networks (docker0) ...

Posted by Rico's Nerd Cluster on June 5, 2024

Rico's Nerd Cluster