YuCong

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三维刚体运动基础系列 之 旋转矩阵!

旋转矩阵姿态表达，以及旋转矩阵微分推导

DEMO Rotate Matrix 约定 1. 基本概念 1.1. 表达姿态 2d姿态 3d姿态 1.2 位姿 2....

Posted by CongYu on June 3, 2021

三维刚体运动基础系列 之 欧拉角!

欧拉角姿态表达，以及欧拉角微分推导

DEMO Euler Angles 约定 1. 基本概念 2. 表达姿态 3. 表达旋转 4. 万向锁 gimbal lock 5. 欧拉角表达下的陀螺仪积分 5.1. 欧拉角微分推导 5.2. 投影步骤 5.3. 投影...

Posted by CongYu on June 2, 2021

三维刚体运动基础

三维刚体的姿态表达与转动描述的基础知识总结

DEMO 三维刚体运动基础 符号约定 三维姿态与位置 姿态表达 基本概念 Contact License Created 2021.06.01 by Cong Yu; Last modified: 2021.06.01-v1.0.2 Contact: windmillyucong@163...

Posted by CongYu on June 1, 2021

MSCKF

A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation

MSCKF: A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation MSCKF && S-MSCKF Basic Introduction Model 1.state vector ...

Posted by YuCong on May 19, 2021

EKF-SLAM

EKF-SLAM: Simulataneous localization and mapping with the extended Kalman filterr. EKF-SLAM Setting up an EKF for SLAM Model 1. state v...

Posted by YuCong on May 18, 2021

Error-State Kalman Filter

Error-State Kalman Filter Error-State Kalman Filter Basic Sentence Model 1.0 符号约定 1.1 状态向量 1.2 运动方程 ...

Posted by YuCong on May 17, 2021

Kalman Filter

Bayesian Filter Kalman Filter Basic Concepts 状态方程 Model 1.1 运动方程（状态转移方程） 1.2 观测方程 1.3 噪声 ...

Posted by YuCong on May 16, 2021

Bayesian Filter

Bayesian Filter Bayesian Filter Background 时移系统 Bayesian Filter Algorithm Implementation 1. 初始化 2. 预测步 (P...

Posted by YuCong on May 16, 2021

DP

DP DP Basic Concept 什么是动态规划? 思维框架 带备忘录的递归 区别与联系 状态压缩 复杂度计算 Contact License ...

Posted by YuCong on April 22, 2021

B树

B树 B Tree Basic Concepts 节点结构 查找 插入 分裂操作 删除 Contact License B Tree Created 2021.04.08 by William Yu...

Posted by YuCong on April 9, 2021

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