current position:Home>[learn slam orb_slam2 or slam3 from scratch] summary of all blog articles

[learn slam orb_slam2 or slam3 from scratch] summary of all blog articles

2022-05-15 07:42:29Slam practical tutorial

【 development environment 】 Make system disk Install dual system Ban nouveau The graphics card install nvidia Driver.

【 development environment 】Ubuntu16.04 20.04 Build under the system Deep learning and SLAM development environment

【 development environment 】Ubuntu Summary of system high frequency and high efficiency terminal commands

【 development environment 】VIM Common mode Insertion mode Visual Modes

【 development environment 】Ubuntu The system sets that the notebook does not enter sleep when the cover is closed The external display does not lock the screen Do not close the screen

【 development environment 】foxit pdf reader typora Editor flameshot Screenshot peek Moving graph Simple Screen Recorder Recording screen Network speed display

【 development environment 】 Remote visual desktop VNC Viewer vnc4server x11vnc

【 development environment 】 Use Git Code version control

【 development environment 】Clion Visual Studio Code Shortcut key plug-in unit debugging C++、ROS Code

【C++】break continue return exit() State machine Turing machine Structure enumeration

【C++】 Namespace class function Variable process Threads

【C++】 data structure How to store graphs Adjacency matrix undirected graph depth first search

【C++】 Constructors Parameter free constructor There are parameter constructors Copy constructor inline function

【C++】 Pointer to class Object pointing to class Object pointer A function pointer quote

【C++】char uchar string stringstream queue array vector set map std::function std::bind

【OpenCV】 Form an image Simulated image Digital image

【OpenCV】 Create an image Pixel traversal Pixel display Vec4b Vec3b ptr at uchar

【OpenCV】 Image adding noise GaussianBlur medianBlur bilateralFilter

【OpenCV】 Batch renaming of images

【OpenCV】 Image multi-channel mixing addWeighted The zoom resize copyTo cvtColor

【OpenCV】 Images Canny edge detection

【OpenCV】 The pixel histogram of the image Image feature points cv::FAST cv::ORB ORB_SLAM2::ORB

【OpenCV】 Draw a line on the image line written words putText The ellipse ellipse Rectangle box rectangle

【OpenCV】 Image de distortion

【OpenCV】 Image rotation translation Affine transformation Perspective transformation

【ROS】 Introduction to the functions of the overall framework and components

【ROS】 Create a workspace Workspace And feature packs Package

【ROS】publish Release and subscribe subscribe topic News in the topic message

【ROS】 Post point and line topics in visualization tools RVIZ Show

【ROS】 Publish graphic topics in visualization tools RVIZ Show

【ROS】 establish ROS The news of msg and srv Actual combat of service items

【ROS】 Summary of common terminal commands

【ROS】 Summary of common visualization tools

【ROS】Launch The syntax and examples of each field in the startup file are explained in detail

【OpenCV ROS】 Receive and use uncompressed images OpenCV The visualization window displays

【OpenCV ROS】 Read an image and then post the image topic in rviz It shows that

【OpenCV ROS】 Receive the compressed image and display

【OpenCV ROS】 The camera releases image topics in real time and displays them in rviz It shows that

【OpenCV ROS】 Read the video, then post the image topic and post it in rviz It shows that

【OpenCV ROS】 Receive the compressed image and display

【OpenCV ROS】 Read an image and then post the image topic in rviz It shows that

【OpenCV ROS】 The camera releases image topics in real time and displays them in rviz It shows that

【Point Cloud ROS】 Point cloud data type 、 Public fields 、ROS Of PCL Interface

【 Learn from scratch SLAM】Ubuntu 20.04 slambook slambook2 Build the code running environment

【 Learn from scratch SLAM】VIZ Pangolin visualization

【 Learn from scratch SLAM】 Coordinate transformation Eigen Sophus Rotation matrix Axis angle Rotating vector Euler Angle Four yuan number Pose transformation

【 Learn from scratch SLAM】 Coordinate transformation Pixel coordinate system Image coordinate system Camera coordinate system Camera normalized coordinate system World coordinate system

【ROS tf】 Coordinate transformation

【ROS tf】 The point in the little turtle's eye coordinate system is converted to another little turtle's eye coordinate system

【ROS tf】 official tf Tutorial small turtle follow program principle interpretation

【ROS tf】ROS topic of conversation tf、tf_static、urdf Model 、static_transform_publisher The relationship between function packages

【ROS tf2】 Get the pose transformation between two little turtles

【ROS tf2】 Obtain the position and posture of the little turtle in real time and release its coordinates relative to the world coordinate system

【ROS tf2】 Publish static coordinate system

【 Learn from scratch SLAM】2D-2D The matching feature points of two images are used to solve the position and attitude

【 Learn from scratch SLAM】 Triangulation method to find 3D The depth of the space point

【Point Cloud ROS】 Use a color image and depth image to generate a point cloud image

【Point Cloud ROS】 Pose transformation between two point cloud images

【 Learn from scratch SLAM】 The visual odometer between two frames is used in parallel g2o Optimize

【 Learn from scratch SLAM】 Practical course of curve fitting project G2O Graph optimization Jacobian matrix derivation

【 Learn from scratch SLAM】3D Space points and 2D The position and pose of feature points are obtained and Gauss Newton sum is used G2O Optimize

【 Learn from scratch SLAM】 How to splice two images into a point cloud

【Point Cloud ROS】 Change the position and attitude of the point cloud

【 Learn from scratch SLAM】BA Problem use g2o Solve the re projection error and optimize the camera pose and road markings

【 Learn from scratch SLAM】 Matching 3D The position and pose of space point pairs are solved by matrix decomposition g2o Optimize

【 Learn from scratch SLAM】LDSO Run the test

【 Learn from scratch SLAM】 Compile operation MultiCol-SLAM(multi-fisheye camera SLAM system)

【 Learn from scratch SLAM】MCPTAM MultiCol-SLAM Installation and conversion between camera calibration file parameters

【 Learn from scratch SLAM】 Robot simulation Navigation simulation

【 Learn from scratch SLAM】 Working principle of sweeping robot Sensor principle structure Workflow Path planning technology

【 Learn from scratch SLAM】TurtleBot3 Hardware structure Multi machine communication Map generation and saving Keyboard control stay RVIZ It shows that Navigation

【 Learn from scratch SLAM】ros navigation AMCL move_base The configuration file A-Star Dijkstra Algorithm principle

【ORB_SLAM2 Source code interpretation 】Ubuntu 20.04 Compile and run through ORB_SLAM2、ORB_SLAM3

【ORB_SLAM3 Source code interpretation 】Ubuntu 16.04 Compile and run through ORB_SLAM3 Versions

【ORB_SLAM2 Source code interpretation 】 Pinhole fisheye camera camera Inertial navigation IMU Summary of calibration methods and detailed calibration process

【ORB_SLAM2 Source code interpretation 】 Read and write from a file or terminal yaml and txt file

【ORB_SLAM2 Source code interpretation 】TUM Data sets RGBD-Benchmark associate.py evaluate_ate.py evaluate_rpe.py

【ORB_SLAM2 Source code interpretation 】evo Tool to evaluate pose trajectory accuracy

【ORB-SLAM2 Source code interpretation 】 Thesis formula

【ORB_SLAM2 Source code interpretation 】TUM、EuRoC The monocular dataset runs through ORB_SLAM2

【ORB_SLAM2 Source code interpretation 】EuRoC The binocular dataset runs through ORB_SLAM2

【ORB_SLAM2 Source code interpretation 】TUM RGBD The dataset runs through ORB_SLAM2

【ORB_SLAM2 Source code interpretation 】Intel RealSense Depth Camera D435i Real time running ORB_SLAM2 Monocular Binocular RGBD

【ORB_SLAM2 Source code interpretation 】Intel RealSense Depth Camera D435i Binocular RGBD Look for your eyes Self made binocular Run through ORB_SLAM2 RTAB-Map

【ORB_SLAM2 Source code interpretation 】Intel RealSense Depth Camera D455 Run through orb_slam2_ros

【ORB_SLAM2 Source code interpretation 】Intel RealSense Depth Camera D435i Run through RTAB-Map

【 Explain function by function ORB_SLAM2 Source code 】1. load Euroc Dataset images

【 Explain function by function ORB_SLAM2 Source code 】2. Image de distortion

【 Explain function by function ORB_SLAM2 Source code 】3.ORB_SLAM2 System initialization

【 Explain function by function ORB_SLAM2 Source code 】4. Calculation umax

【 Explain function by function ORB_SLAM2 Source code 】5. Image pyramid

【 Explain function by function ORB_SLAM2 Source code 】6. Extract feature points from image pyramid

【 Explain function by function ORB_SLAM2 Source code 】7. Initial node of quadtree

【 Explain function by function ORB_SLAM2 Source code 】8. Quadtree node splitting

【 Explain function by function ORB_SLAM2 Source code 】9. The quadtree realizes the homogenization of feature points

【 Explain function by function ORB_SLAM2 Source code 】10. Geometric center and gray centroid of feature points

【 Explain function by function ORB_SLAM2 Source code 】11. Descriptors with rotation invariance

【ORB_SLAM2 Source code interpretation 】 analysis ORB_SLAM2 RGBD The first 0 How does the frame calculate the position and attitude

【ORB_SLAM2 Source code interpretation 】 analysis ORB_SLAM2 RGBD The first 1 How does the frame calculate the position and attitude

【ORB_SLAM2 Source code interpretation 】LocalMapping Thread execution process

【ORB_SLAM2 Source code interpretation 】ORB_SLAM2::LoopClosing::Run

【ORB_SLAM2 Source code interpretation 】MapPoint SetWorldPos、GetWorldPos、GetNormal、mNormalVector

【ORB_SLAM2 Source code interpretation 】System::TrackRGBD Tracking::GrabImageRGBD Frame::Frame Track

「ORB_SLAM2 Source code interpretation 」 A function of ORBmatcher::SearchForInitialization()

【ORB_SLAM2 Source code interpretation 】rgbd_tum Generate three-dimensional points in the world coordinate system to complete binocular and RGBD Initialization operation Tracking::StereoInitialization()

【ORB_SLAM3 Source code interpretation 】IMU Basic introduction 、IMU Posture 、 Speed 、 Position solution and error equation 、 Coordinate system

【ORB_SLAM3 Source code interpretation 】 Tear your hands IMU Pre integration formula

【ORB_SLAM3 Source code interpretation 】 Principle interpretation code actual combat tutorial

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