Rico贾若童的博客

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

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

Robotics - [3D SLAM - 5] Map Metrics

Gaussian Entropy, Graph Tension, Chi Squared, Trajectory Smoothness

Residual Calculation In scan matching, a residual is the raw error term e. The weighted squared error is: 1 chi2 = e.transpose() * information * e; where: 1 information = covariance.inverse() ...

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

Robotics - [3D SLAM - 7] Closed Form ICP

Rigid Alignment Form ICP closed-form rigid alignment step inside ICP. The outer loop is ICP because it repeatedly updates correspondences, but the per-iteration pose update is solved by SVD/Kabs...

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

Rico's Nerd Cluster