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useful blogs for research
Research_tools
This project contains some blogs, ideas, reviews and news related to posiitoing and navigation via sensor/sensors fusion for autonomous systems, e.g. autonomous driving and unmanned aerial vehicles. Some interesting papers will be updated in the Issues and will be closed once the paper is read.
Content
Paper Reviewing and Code Implementation
- Paper reviewing with ideas and comments
Paper writing
- Endnote stuck probelm
- Word file recover
- Grammarly failed to detect word file
- Formula in word always bold
- Replacement for evernote:Nixnote
- Conference/Symposium/Journal on ITS
Sensor Fusion
- Weighted Least Square with code for GNSS
- Transformation in non-linear optimization
- Bundle Adjustment with Ceres
- Factor Graph based Sensor Fusion (ASPN)
- Graph Optimization
- GNSS Single Point Positioning
- Unscented Kalman Filter (UKF)
- Extended Kalman Filter (EKF)
- Kalman Filter (KF)
- Particle Filter (PF)
Coding
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Debug ros node with GDB
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Github: manage your code with Github
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show/plot trajectory in rviz with google map/openstreet map as background
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VS Code Auto-completion, useful tools in vs code, visual studio code, VS-code
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Ubuntu Install
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write data to csv using C++
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Evaluation SLAM or sensor fusion using EVO
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Set certain characters in one line for VS Code
- Maximum line length is 120 characters. C++ ROS style
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Remove the re-declaration of showmsg, settspan, settime in application node
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get residuals from Ceres-solver after factor graph optimization
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split a single rosbag into several one or cut the rosbag file
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CPP-00 Modern C++:course Introduction and Hello World (2018,Igor)
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CPP-01 Modern C++:Variables, Basic types, Control structure (2018,Igor)
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CPP-02 Modern C++:Compilation, Debugging, Functions, Headers/Source, Libraries, Cmake (2018,Igor)
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CPP-03 Modern C++: Google Test, Namespace, Class, (2018,Igor)
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warning: Clock skew detected ros
find . -type f | xargs touch
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get ublox solution from CSV, read CSV using C++
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vector, map operation: reduce vector based on the other vector,
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rosbag operation, commands
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deliver ros handle from main cpp to any cpp from a library
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synchronize, allign, simultaneously subscribe several ros topics using messages filter
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get jacobian matrix from Ceres-solver optimization, define states in ceres-solver, new array memory, initialize array
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Eigen matrix usage, armadillo matrix usage, operation, rotation, transformation
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map operation
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code_notes_for_VINS
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Matlab command, plot
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Calibration_IMUCamera
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plot Gaussian mixture model based on residuals in matlab
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convert nmea to latitude, longitude, altitude from ublox
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LiDAR IMU calibration package based on motion, targetless calibration
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pointGrey camera and Xsense Mti 30 IMU sensor data collection
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ros Could NOT find GeographicLib
- command to fix: sudo apt-get install libgeographic-dev ros-kinetic-geographic-msgs
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Solution to fix the issue: Github slow in mainland china (you only need to add the IP for github.com, export HTTPS_PROXY=127.0.0.1:8001)
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Code for the paper "A Graduated Filter Method for Large Scale Robust Estimation", CVPR2020
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CppRobotics, implementation of the PythonRobotics via CPP -Robotics 101: Computational Linear Algebra -CppCoreGuidelines -rosdep update fail: export HTTPS_PROXY=127.0.0.1:8001 -Motion-Based Camera-IMU Extrinsic Calibration -video2rosbag:convert a video to a rosbag file -vins_with_encoder
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ROS metapackage for ground robot 3D navigation and exploration
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NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset for Autonomous Aerial Vehicle
Industrial
- Kolmostar, GNSS
- Applanix
- Veth Research Associates
- NovAtel
- FixPosition: GNSS/Visual integrated positioning
Challenging Dataset
- UrbanLoco:A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes
- UrbanNav:an Open-Sourcing Localization Data Collected in Asian Urban Canyons, Including Tokyo and Hong Kong
- Kaist Urban Dataset
- NCLT Dataset:The University of Michigan North Campus Long-Term Vision and LIDAR Dataset.
- The Blackbird UAV dataset: UAV Visual/Inertial integrated positioning
Laboratory in Navigation
Contact
- Author: Weisong Wen, PhD Candidate in Hong Kong Polytechnic University.
- Email: weisongwen@weisongwen
- Affiliation: Intelligent Positioning and Navigation Laboratory