Bowen's Tech Blog

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.

This post talks about the theory for Visual Inertial SLAM. Notes of book SLAM in Autonomous Driving.

This post goes through the popular Visual Inertial SLAM systems, including MSCKF, OKVIS, VINS-Mono and etc.

This post goes through the popular visual SLAM systems.

This post organizes the resources that I used to learn SLAM, also serves as a reference to other post in this blog.

This post is the notes of book “State Estimation for Robotics”, which talks about the state estimation math for SLAM.

This post is the notes of Cyrill Stachniss’s Photogrammetric Computer Vision course. This post includes concepts about Visual Features, RANSAC, Extrinsics and Intrinsics, Fundamental and Essential matrices and so on.

Notes of Book Multiple View Geometry in Computer Vision

Welcome to Hexo! This is your very first post. Check documentation for more info. If you get any problems when using Hexo, you can find the answer in troubleshooting or you can ask me on GitHub.

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$ hexo new "My New Post"

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$ hexo server

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$ hexo generate

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$ hexo deploy

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Note

Anchor: a kind of data structure in AR field, which represents a precise point of interest in 3D space that can be shared across users, devices, and time

Microsoft Azure Spatial Anchors is a service that can store the local world anchors to the cloud and share the anchors among different platforms, see the table blow. ASA (Azure Spatial Anchors) enables building apps that can map, persist, and share 3D content from room-scale to real world-scale.