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C++ - Segfaults

Out-of-bounds Iterator Access

Out-of-bounds Iterator Access Out-of-bounds iterator access is an undefined behavior, which might give a segfault, or give a garbage value. 1 2 3 4 5 6 7 8 9 10 11 12 #include <vector> #inc...

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

Robotics - [2D SLAM 1] Introduction and Scan Matching

Point-Point ICP, Point-Line ICP

Introduction The assumption of a robot moving on a 2D plane is a strong one. However, many indoor robots do have support an assumption. Maps in this case can simply be interpreted as an image. Low...

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

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

Robotics - General ESKF Hands-on Test Notes

Primers Did you turn on the message debugging flag, or are you compiling with PRINT_DEBUG_MSGS? Are you sure you are launching the right test? IMU tools Velocity drift observed. Here, I’m ...

Posted by Rico's Nerd Cluster on April 3, 2024

Robotics - [IMU Pre-integration Model 4] IMU Pre-integration Optimization Implementation

IMU Pre-Integration, GNSS, UTM

Using Pre-Integration Terms as Edges in Graph Optimization Formulating a graph optimization problem using pre-integration (as edges) and states as nodes is quite flexible. Recall that from here th...

Posted by Rico's Nerd Cluster on April 2, 2024

Robotics - [IMU Pre-integration Model 3] Noise Model

Jacobian Derivation

Pre-integration Model In Graph Optimization using IMU pre-integration, $b_g$ and $b_a$ are factors under optimization. We have derived the Jacobians of pre-integrated intermediate values w.r.t the...

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

Robotics - [IMU Pre-integration Model 2] How To Update Pre-integration With Changing IMU Biases

Jacobian Derivation

Update Pre-integration When Updating Biases Pre-integration parts are functions are functions w.r.t gyro and acceleration biases: $b_{g,i}, b_{a,i}$. In graph optimization, we would usually need t...

Posted by Rico's Nerd Cluster on March 29, 2024

Rico's Nerd Cluster

C++ - Segfaults

Out-of-bounds Iterator Access

Robotics - [2D SLAM 1] Introduction and Scan Matching

Point-Point ICP, Point-Line ICP

C++ - Move Semantics, Perfect Fowarding

Universal Reference, `std::move` with Emplace

Robotics - Point Cloud Processing and KNN Problem

Bruteforce KNN Search, KD Tree, OctoTree

C++ - Datastructures

Priority Queue

Point Cloud Library

Robotics - General ESKF Hands-on Test Notes

Robotics - [IMU Pre-integration Model 4] IMU Pre-integration Optimization Implementation

IMU Pre-Integration, GNSS, UTM

Robotics - [IMU Pre-integration Model 3] Noise Model

Jacobian Derivation

Robotics - [IMU Pre-integration Model 2] How To Update Pre-integration With Changing IMU Biases

Jacobian Derivation

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