This is the lecture notes for "ELEC 5650: Networked Sensing, Estimation and Control" in the 2024-25 Spring semester, delivered by Prof. Ling Shi at HKUST. In this session, we will cover essential mathematical tools and concepts from linear algebra, matrix theory, and system theory that are fundamental to networked sensing, estimation, and control.
Experiments show that different visual descriptors tend to have similar rates of outliers in feature matching, and the precision differences brought by the application of different feature descriptors in Visual SLAM are negligible.
T. Qin and S. Shen, “Robust initialization of monocular visual-inertial estimation on aerial robots,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC: IEEE, Sep. 2017, pp. 4225–4232. doi: 10.1109/IROS.2017.8206284.
这篇文章提出了一种鲁棒的视觉惯性系统初始化方法，通过松耦合的方式对齐 IMU 与视觉数据，主要解决了外参数标定、陀螺仪偏置估计、速度重力尺度和视觉惯性对齐等关键问题。
S. Lovegrove, A. Patron-Perez, and G. Sibley, “Spline Fusion: A continuous-time representation for visual-inertial fusion with application to rolling shutter cameras,” in Procedings of the British Machine Vision Conference 2013, Bristol: British Machine Vision Association, 2013, p. 93.1-93.11. doi: 10.5244/C.27.93.
这篇论文主要工作是建立了卷帘相机的连续时域下的数学模型，初始化方法是利用 IMU 主动对齐视觉。
Z. Zhang, G. Gallego, and D. Scaramuzza, "On the Comparison of Gauge Freedom Handling in Optimization-Based Visual-Inertial State Estimation," IEEE Robot. Autom. Lett., vol. 3, no. 3, pp. 2710–2717, Jul. 2018, doi: 10.1109/LRA.2018.2833152.
这篇论文主要讨论了视觉惯性系统中规范自由度（Gauge Freedom）的处理方法，并对比了不同策略的效果。
This is the review notes for key concepts and theorems in discrete mathematics, particularly focusing on modular arithmetic, divisibility, and the properties of integers.
This cheat sheet summarizes key concepts in System Modeling, Analysis and Control.
CoTiMo represents Collision-Free Smooth Path Generation, Time-Optimal Path Parameterization, and Model Predictive Control Planner. It is a comprehensive solution for robotic motion planning.
介绍了四种姿态表示方式：旋转矩阵、欧拉角、轴角 和 四元数，以及它们之间相互转换关系的推导
