Robust and Fast 3D Scan Alignment Using Mutual Information 使用互信息进行稳健快速的三维扫描对准 https://arxiv.org/pdf/1709.06948.pdf Nikhil Mehta, James R. McBride and Gaurav Pandey Abstract—This paper presents a mutual information (MI) based algorithm for the estimat…

张宁 Robust Attitude Estimation Using an Adaptive Unscented Kalman Filter 使用自适应无味卡尔曼滤波器进行姿态估计链接:https://pan.baidu.com/s/1TNeRUK84APiwNv1uyQfhHg 提取码:pbdt This paper presents the robust Adaptive unscented Kalman filter (RAUKF) for attitude estimation. Sin…

cartographer 3D scan matching没有论文和其它资料,因此尝试通过源码理解其处理方法,理解不当之处还请指正. 目录: 0.2D 匹配方法简介 1.real time correlative scan matcher; 2.fast correlative scan matcher; 3.ceres scan matcher; 论文<Real-Time Correlative Scan Matching>介绍了3种基于概率网格的2D scan matching的方法,分别…

SQL> drop table test; 表已删除. SQL> create table test as select * from dba_objects where 1!=1; 表已创建. SQL> create index idx_test_id on test(object_id); 索引已创建. SQL> insert into test select * from dba_objects where object_id is not null and object_i…

INDEX FULL SCAN 索引全扫描.单块读 .它扫描的结果是有序的,因为索引是有序的.它通常发生在 下面几种情况(注意:即使SQL满足以下情况 不一定会走索引全扫描) 1. SQL语句有order by选项,并且order by 的列都包含 在索引中,并且order by 后列顺序必须和索引列顺序一致. 2. 在进行SORT MERGE JOIN的时候,如果要查询的列通过索 引就能获得,那就不必进行全表扫描了,另外也避免了排 序,因为INDEX FULL SCAN返回的结果已经排序. 3…

INDEX FULL SCAN 索引全扫描.单块读 .它扫描的结果是有序的,因为索引是有序的.它通常发生在 下面几种情况(注意:即使SQL满足以下情况 不一定会走索引全扫描) 1. SQL语句有order by选项,并且order by 的列都包含 在索引中,并且order by 后列顺序必须和索引列顺序一致. 2. 在进行SORT MERGE JOIN的时候,如果要查询的列通过索 引就能获得,那就不必进行全表扫描了,另外也避免了排 序,因为INDEX FULL SCAN返回的结果已经排序. 3…

**************************1************************************* 索引状态:          valid.      N/A .      unusable 解释 确认索引状态--user_indexes 确认该索引状态是 N/ASQL> select index_name,status from user_indexes where index_name='IND01';INDEX_NAME                   …

一.索引快速扫描(index fast full scan) 索引快速全扫描(INDEX FAST FULL SCAN)和索引全扫描(INDEX  FULL SCAN)极为类似,它也适用于所有类型的B树索引(包括唯一性索引和非唯一性索引).和索引全扫描一样,索引快速全扫描也需要扫描目标索引所有叶子块的所有索引行. 索引快速全扫描与索引全扫描相比有如下三点区别. (1)索引快速全扫描只适用于CBO. (2)索引快速全扫描可以使用多块读,也可以并行执行. (3)索引快速全扫描的执行结果不一定是有序的…

源链接:https://blog.csdn.net/robinson1988/article/details/4980611 index range scan(索引范围扫描): 1.对于unique index来说,如果where 条件后面出现了<,> ,between ...and...的时候,那么就可能执行index range scan,如果where条件后面是=,那么就会执行index unique scan. 2.对于none unique index来说 如果where 条件后面出…

触发条件:只需要从索引中就可以取出所需要的结果集,此时就会走索引全扫描 Full Index Scan    按照数据的逻辑顺序读取数据块,会发生单块读事件, Fast Full Index Scan   按照数据块的物理存储位置顺序读取数据块,会发生多块读事件,理论上索引快速全扫描会比索引全扫描要快 官档的解释: Full Index Scan In a full index scan, the database reads the entire index in order. A full…

文章:How far are we from solving the 2D & 3D Face Alignment problem?-(and a dataset of 230,000 3D facial landmarks) 作者:诺丁汉大学的Adrian Bulat& Georgios Tzimiropoulos Github:https://github.com/1adrianb/face-alignment 2D-FAN:https://www.adrianbulat.com/do…

张宁  Fast and Robust Initialization for Visual-Inertial SLAM链接:https://pan.baidu.com/s/1cdkuHdkSi9x7l-96zMbX7g 提取码:b3ff Carlos Campos, Jos´e M.M. Montiel and Juan D. Tard´os Visual-inertial SLAM (VI-SLAM) requires a good initial estimation of the init…

FMD Stereo SLAM: Fusing MVG and Direct Formulation Towards Accurate and Fast Stereo SLAM FMD Stereo SLAM:融合MVG和直接方法,实现准确,快速的双目SLAM Fulin Tang, Heping Li, Yihong Wu We propose a novel stereo visual SLAM framework considering both accuracy and speed at…

张宁 Semantic Labeling of Indoor Environments from 3D RGB Maps Manuel Brucker,  Maximilian Durner,  Rare Ambru, Zoltán Csaba Márton, Axel Wendt, Patric Jensfelt,  Kai O. Arras,  Rudolph Triebel "链接:https://pan.baidu.com/s/1JtQfWlhynnXvh69VLmvAFg 提取码:7e…

eRTIS - A Fully Embedded Real Time 3D Imaging Sonar Sensor for Robotic Applications eRTIS  - 用于机器人应用的全嵌入式实时3D成像声纳传感器 链接:https://pan.baidu.com/s/1493U3I3mO5TVUB7ne9jjaw 提取码:ivj5 Robin Kerstens, Dennis Laurijssen, Jan Steckel Abstract—Many popular adva…

Project AutoVision - Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System Lionel Heng, Benjamin Choi https://arxiv.org/abs/1809.05477 Abstract: Project AutoVision aims to develop localization and 3D scene percepti…

张宁 A Linear Least Square Initialization Method for 3D Pose Graph Optimization Problem "链接:https://pan.baidu.com/s/1oj_HgQtiiKExACscYuFhJQ 提取码:7xrg" 三维位姿图优化问题的线性最小二乘初始化方法 S. M. Nasiri, H. Moradi, Senior Member, IEEE, R. Hosseini Abstract Pose Gra…

Marcin Dymczyk, Igor Gilitschenski, Juan Nieto, Simon Lynen, Bernhard Zeis, and Roland Siegwart LandmarkBoost: Efficient Visual Context Classifiers for Robust Localization LandmarkBoost:用于鲁棒定位的高效的视觉上下文分类器 Abstract—The growing popularity of autonomous s…

Exploiting Points and Lines in Regression Forests for RGB-D Camera Relocalization 利用回归森林中的点和线进行RGB-D相机重新定位 张宁 https://pan.baidu.com/s/17RfrQqp0LaCELabma4jVDQ Lili Meng , Frederick Tung , James J. Little , Julien Valentin , Clarence W. de Silva Abstra…

张宁  Efficient Trajectory Planning for High Speed Flight in Unknown Environments 高效飞行在未知环境中的有效轨迹规划链接:https://pan.baidu.com/s/1l0HtSOU-6QSojq7ELrmLIA  提取码:ayc1 Markus Ryll, John Ware, John Carter and Nick Roy There has been considerable recent work in…

A Multi-Position Joint Particle Filtering Method for Vehicle Localization in Urban Area 城市车辆定位的多位置联合粒子滤波方法 Shuxia Gu, Zhiyu Xiang*, Yi Zhang and Qi Qian 张宁 Abstract—Robust localization is a prerequisite for autonomous vehicles. Traditional visual loc…

简介:这是一篇17年的CVPR,作者提出使用现有的人脸识别深度神经网络Resnet101来得到一个具有鲁棒性的人脸模型. 原文链接:https://www.researchgate.net/publication/311668561_Regressing_Robust_and_Discriminative_3D_Morphable_Models_with_a_very_Deep_Neural_Network 摘要 主要说了两个部分:第一部分,三维人脸模型还没有广泛应用到人脸识别等领域,主要原因是…

BLVD: Building A Large-scale 5D Semantics Benchmark for Autonomous Driving BLVD:构建自主驾驶的大规模5D语义基准 Jianru Xue, Jianwu Fang, Tao Li, Bohua Zhang, Pu Zhang, Zhen Ye and Jian Dou Abstract—In autonomous driving community, numerous benchmarks have been esta…

张宁 Semi-Dense Visual-Inertial Odometry and Mapping for Quadrotors with SWAP Constraints 具有SWAP约束的四旋翼半密集视觉惯性里程计和建图 https://ieeexplore.ieee.org/document/8463163 Wenxin Liu, Giuseppe Loianno, Kartik Mohta, Kostas Daniilidis, and Vijay Kumar Abstract—Mic…

Deep-LK for Efficient Adaptive Object Tracking "链接:https://pan.baidu.com/s/1Hn-CVgiR7WV0jvaYBv5G_A 提取码:mp97" 用于高效自适应对象跟踪的Deep-LK方法 In this paper, we present a new approach for efficient regression-based object tracking. Our approach is closely r…

张宁 Cooperative Object Transportation by Multiple Ground and Aerial Vehicles: Modeling and Planning 多地面和空中车辆的协同目标运输:建模与规划 "链接:https://pan.baidu.com/s/1u00fHJMF4u9_4l7-h655og 提取码:n94y" In this paper, the modeling and planning problems of a system…

Cubic Range Error Model for Stereo Vision with Illuminators 带有照明器的双目视觉的三次范围误差模型 "链接:https://pan.baidu.com/s/1ihSDMHyBzRF6TRZftS2WHw 提取码:la7r " Marius Huber, Timo Hinzmann, Roland Siegwart, and Larry H. Matthies Abstract—Use of low-cost depth sen…

Towards real-time unsupervised monocular depth estimation on CPU Matteo Poggi , Filippo Aleotti , Fabio Tosi , Stefano Mattoccia 在CPU上进行实时无监督单目深度估计 Abstract— Unsupervised depth estimation from a single image is a very attractive technique with severa…

Automatic Parameter Tuning of Motion Planning Algorithms 运动规划算法的自动参数整定 Jos´e Cano, Yiming Yang, Bruno Bodin, Vijay Nagarajan, and Michael O’Boyle 张宁 Automatic Parameter Tuning of Motion Planning Algorithms https://pan.baidu.com/s/17rNCxNp3Lqbtqt-sO1x…

Motion Planning for a Small Aerobatic Fixed-Wing Unmanned Aerial Vehicle Joshua Levin, Aditya Paranjape, and Meyer Nahon 小型特技飞行无人机的运动规划 https://pan.baidu.com/s/1xB6WxNMEo-SNAApsNT0GQQ Abstract— A motion planner is developed for guiding a small aeroba…