Tango

综述|视觉与惯导，视觉与深度学习SLAM

由 ℡╲_俬逩灬. 提交于 2020-10-12 01:46:06
点击上方“3D视觉工坊”，选择“星标” 干货第一时间送达 SLAM包含了两个主要的任务：定位与构图，在移动机器人或者自动驾驶中，这是一个十分重要的问题：机器人要精确的移动，就必须要有一个环境的地图，那么要构建环境的地图就需要知道机器人的位置。 本系列文章主要分成四个部分： 在第一部分中，将介绍Lidar SLAM，包括Lidar传感器，开源Lidar SLAM系统，Lidar中的深度学习以及挑战和未来。 第二部分重点介绍了Visual SLAM，包括相机传感器，不同稠密SLAM的开源视觉SLAM系统。 第三部分介绍视觉惯性里程法SLAM，视觉SLAM中的深度学习以及未来。 第四部分中，将介绍激光雷达与视觉的融合。 视觉SLAM的稳定性是一项技术挑战。因为基于单目的视觉SLAM需要初始化、尺度的不确定性和尺度漂移等问题[1]。尽管立体相机和RGB-D相机可以解决初始化和缩放的问题，但也存在一些不容忽视的问题，如运动速度快、视角小、计算量大、遮挡、特征丢失、动态场景和光照变换等。针对以上这些问题传感器的融合方案逐渐流行起来，IMU与相机融合的视觉里程计成为研究热点。 视觉与惯导 论文[2][3][4]是比较早期对VIO进行的一些研究。[5][6]给出了视觉惯导里程计的数学证明。而论文[7]则使用捆集约束算法对VIO进行稳健初始化。特别是tango[8]、Dyson 360

Windows 终端中的配色方案

由 ╄→гoц情女王★ 提交于 2020-08-08 19:16:00
摘自： https://docs.microsoft.com/zh-cn/windows/terminal/customize-settings/color-schemes 创建自己的配色方案 可以在 settings.json 文件的 schemes 数组中定义配色方案。 它们是使用以下格式写入的： JSON 复制 { "name" : "Campbell" , "cursorColor" : "#FFFFFF" , "selectionBackground" : "#" , "background" : "#0C0C0C" , "foreground" : "#CCCCCC" , "black" : "#0C0C0C" , "blue" : "#0037DA" , "cyan" : "#3A96DD" , "green" : "#13A10E" , "purple" : "#881798" , "red" : "#C50F1F" , "white" : "#CCCCCC" , "yellow" : "#C19C00" , "brightBlack" : "#767676" , "brightBlue" : "#3B78FF" , "brightCyan" : "#61D6D6" , "brightGreen" : "#16C60C" , "brightPurple" : "

Does ARCore supports SLAM and AreaLearning?

由 ≯℡__Kan透↙ 提交于 2020-06-25 07:14:05
问题 I'm trying to achieve Indoor Navigation system in shopping mall or an office ? Is that possible using existing ARCore ? 回答1: Take a look at this, looks like you want to achieve something similar https://community.arm.com/graphics/b/blog/posts/indoor-real-time-navigation-with-slam-on-your-mobile 来源： https://stackoverflow.com/questions/50829218/does-arcore-supports-slam-and-arealearning

Project Tango: How to tell if the plane created in the Plane fitting example is a floor or a wall in Java SDK?

由 烂漫一生 提交于 2020-01-06 03:38:06
问题 The plane fitting example fits a cube on a plane that it created from the point cloud that it retrieves based on the point selected by user. I want to determine if that point is a floor, a wall or a roof. What I am trying to achieve is to change the example so that it only renders the cube on the floor and not on wall or roof. 回答1: The simplest solution is to check the plane normal. Usually, wall's normal is perpendicular to the gravity, and floor is parallel to gravity. 回答2: Something like

Tango Camera Preview for RGBIR

由 倖福魔咒の 提交于 2020-01-04 05:23:48
问题 I am using Tango's demo for videoOverlaySample. Instead of color, I would like to see the IR data (alone or with color). So, I replaced TANGO_CAMERA_COLOR with TANGO_CAMERA_RGBIR in both places where it appears. But screen is black. Here is the code: /* * Copyright 2014 Google Inc. All Rights Reserved. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www

Tango future versus D1 discontinuation

由 别等时光非礼了梦想. 提交于 2019-12-23 09:46:58
问题 Knowing that D1 will be discontinued effective December 31, 2012 , is it still worth it to continue using Tango given that the official distribution is under D1? 回答1: If you're talking about whether it's worth continuing to use Tango with D1 once official support for D1 goes away, then I think that that's pretty much the same answer as whether it's worth continuing to use D1. The lack of D1 support for dmd really shouldn't have any effect on whether Tango for D1 is still usable. The real

Unity Android Application “Unable to load native library” and “Failed to mkdirat” Project Tango

由 百般思念 提交于 2019-12-21 06:46:18
问题 I have been having issues with an application I am developing on Unity, so to make sure that it wasn't a problem with any of my work I started a new project and only installed the Tango plugin. After following the instructions to create a basic application and run it on my device the application still crashes on start up. Any help is appreciated! I/ActivityManager( 898): START u0 {act=android.intent.action.MAIN cat=[android.intent.category.LAUNCHER] flg=0x10000000 pkg=com.test.test cmp=com

Does the D language have multiple standard libraries and issues with GC?

由 半城伤御伤魂 提交于 2019-12-20 09:56:15
问题 I'm wondering how mature and stable D is, and if it might be a good replacement for C/C++. I know that there are currently two standard libraries (Phobos and Tango). Is it still the case that there is no unified standard library? Additionally I heard some time ago that the languages has problems on the boundaries of GCed/non-GCed code. I couldn't find any reference about that on the D website, so is this problem still true? 回答1: Version 1 of D is mature and stable, and there are definitely

How can I grab single key hit in D Programming Language + Tango?

由 非 Y 不嫁゛ 提交于 2019-12-13 13:54:32
问题 I read this article and try to do the exercise in D Programming Language, but encounter a problem in the first exercise. (1) Display series of numbers (1,2,3,4, 5....etc) in an infinite loop. The program should quit if someone hits a specific key (Say ESCAPE key). Of course the infinite loop is not a big problem, but the rest is. How could I grab a key hit in D/Tango? In tango FAQ it says use C function kbhit() or get(), but as I know, these are not in C standard library, and does not exist

Using image resources in a jar using maven

由 偶尔善良 提交于 2019-12-11 17:25:51
问题 I have a java/maven project that uses tango icons, so I'm using the following dependency: <dependency> <groupId>org.freedesktop.tango</groupId> <artifactId>tango-icon-theme</artifactId> <version>0.8.90</version> </dependency> And the following code, which would work ok before I moved the proyect to maven: imageIcon = new ImageIcon(this.getClass().getResource(org/freedesktop/tango/22x22/actions/address-book-new.png)); However, it now results in NullPointerException for some reason. The
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