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

• Debug ros node with GDB

• Self-defined ROS msg

• Could not get lock /var/lib/dpkg/lock-frontend - open

• Curve fitting with Ceres

• Ceres Solver Introduction

• GLOG, GFLAGS, Cmakelist

• Github: manage your code with Github

• show/plot trajectory in rviz with google map/openstreet map as background

• VS Code Auto-completion, useful tools in vs code, visual studio code, VS-code

• Eigen bug unsupported files cannot be found

• Ubuntu Install

• write data to csv using C++

• Evaluation SLAM or sensor fusion using EVO

• Set certain characters in one line for VS Code

  • Maximum line length is 120 characters. C++ ROS style

• Coordinate systems of OpenCv, CV::Mat at(), cv2::Point

• Install Google Earth in ubuntu

• C++ Class from Peking University

• ROS node link rtklib error

• RTKLIB file cannot link c++ library

• Difference between SPP, DGPS, RTK and PPP

• Remove the re-declaration of showmsg, settspan, settime in application node

• Remove the relativitic effects for GNSS position estimation

• Enable BeiDou Satellite System in RTKLIB

• get access to high frequency empherical data, use 1s data, otherwise, the measurements from station will be not enough

• get the covariance matrix after optimization

• get residuals from Ceres-solver after factor graph optimization

• split a single rosbag into several one or cut the rosbag file

• CPP-00 Modern C++:course Introduction and Hello World (2018,Igor)

• CPP-01 Modern C++:Variables, Basic types, Control structure (2018,Igor)

• CPP-02 Modern C++:Compilation, Debugging, Functions, Headers/Source, Libraries, Cmake (2018,Igor)

• CPP-03 Modern C++: Google Test, Namespace, Class, (2018,Igor)

• warning: Clock skew detected ros

  find . -type f | xargs touch
  

• get ublox solution from CSV, read CSV using C++

• vector, map operation: reduce vector based on the other vector,

• rosbag operation, commands

• deliver ros handle from main cpp to any cpp from a library

• synchronize, allign, simultaneously subscribe several ros topics using messages filter

• C++ blogs, main operators in C++, const, static

• latitude, longitude, altitude to ECEF conversion

• get jacobian matrix from Ceres-solver optimization, define states in ceres-solver, new array memory, initialize array

• Eigen matrix usage, armadillo matrix usage, operation, rotation, transformation

• map operation

• code_notes_for_VINS

• Matlab command, plot

• Calibration_IMUCamera

• bug:signbit' was not declared in this scope

• switch between Qt 4 and Qt 5

• plot Gaussian mixture model based on residuals in matlab

• convert nmea to latitude, longitude, altitude from ublox

• pythonRobotics

• using git bash in windows to manage github code

• using SE(3) and SO(3) in lie groups

• Generate visual navigation data for CARLA

• awesome Visual SLAM

• LiDAR IMU calibration package based on motion, targetless calibration

• pointGrey camera and Xsense Mti 30 IMU sensor data collection

• ros Could NOT find GeographicLib

  • command to fix: sudo apt-get install libgeographic-dev ros-kinetic-geographic-msgs

• Install the MATLAB2018b in Ubuntu 18.04

• image_transport::ImageTransport in ROS class

• Personal Detection

• Android Sensor Driver for ROS

• cc1: error while loading shared libraries: libmpc.so.2

• The Algorithms - C++

• Ceres-solver DynamicAutoDiffCostFunction

• Install ros in slow in source from china, update the source

• 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)

• save rostopic to CSV, save a specific topic to csv

• CS 20SI: Tensorflow for Deep Learning Research

• TEX-Cup Dataset Urban GNSS positioning

• EU Long Term Datasets

• kaarta: company originated from LOAM

• Code for the paper "A Graduated Filter Method for Large Scale Robust Estimation", CVPR2020

• 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

• ROS metapackage for ground robot 3D navigation and exploration

• C++ implementation of modified LAMBDA

• loosely-coupled GNSS IMU INS integration in the ECEF frame

• NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset for Autonomous Aerial Vehicle

• extract the image from rosbag to png, image to file

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

NAV Lab at Standford	Senseable City Lab at MIT	ASPIN at University of California, Irvine	Intelligent Positioning and Navigation Lab at PolyU
IRIS at ETHZ	HKUST Aerial Robotics Group	RAM Lab in HKUST	Robot Perception Lab
Robust Field Autonomy Lab	RPNG Lab at University of Delaware	State Key Lab of CAD&CG at Zhejiang University	Toronto AI Lab
StachnissLab Photogrammetry & Robotics	WINS Lab	Yuan Shen Qsinghua University	Toronto AI Lab

Contact

• Author: Weisong Wen, PhD Candidate in Hong Kong Polytechnic University.
• Email: weisongwen@weisongwen
• Affiliation: Intelligent Positioning and Navigation Laboratory