This site has different types of tech blogs, including AR, CV, SLAM, Math, Coding and software developments. Each blog will be updated from time to time.
Index of main posts are as following.
More posts could be found in categories tab.
As the development of LLM and Agentic AI, the concept of spatial AI is attracting increasing attention. Spatial AI combines machine learning/deep learning with 3D geometry and sensor data, allowing computers to perceive, map, and reason about physical space. Unlike traditional AI that focuses on text or 2D images, Spatial AI understands 3D space and real-world physics.
SLAM, as a fundamental technique, is very powerful to understand and perceive the 3D space and physical environment. SLAM has a long history over the traditional computer vision and state estimation theories, and now it’s getting new opportunities to evolve with the latest LLM development.
The SLAM algorithm based on traditional computer vision geometry and state estimation has been mature. There are lots of open source SLAM architecture, and different commercial products have their own implementation. Every SLAM implementation has its pros and cons. This post is to provide the high level guidance for how to design a practical SLAM system for products.
This post talks about the theory for Visual Inertial SLAM. Notes of book SLAM in Autonomous Driving.
Majority content of this post came from the book Basic Knowledge on Visual SLAM: From Theory to Practice.
SLAM (Simultaneous Localization and Mapping) is the technique to establish the nearby environment and localize the moving object inside it at the same time according to sensor measurements. SLAM can be used in augmented reality, autonomous vehicles, and robot’s navigation. The mathematic theory of SLAM is the state estimation.
Visual SLAM is a kind of SLAM that depends on on visual sensors (cameras), which also involves photometric and geometric computer vision.
This post talks about the fundamental math for SLAM, including Homogeneous Coordinates, Transformation in 3D space, Probability, SVD, Least Square Optimization, Lie Group and Lie Algebra and etc.
Check the IP of Raspberry Pi is very painful because the IP of the Raspberry Pi will change automatically after a period of time if you didn’t assign a static IP to it. Checking the IP of the Raspberry Pi requires the keyboard, monitor, and it requires time to check it.
This post goes through the popular visual SLAM systems.
General introduction of C++ related knowledge.
There are a lot of application development paths for Microsoft MixedReality platforms. This post covers things including OpenXR, Unity, Stereo Kit, MRTK and etc.