### Calculating Position from Raw GPS Data

July 17, 2017

We are all familiar with GPS (Global Positioning System) and its myriad applications. From getting directions using Google maps to hailing a ride using a ride sharing […]

### Sensor Fusion: Part 4

May 7, 2017

In this post, we’ll add the math and provide implementation for adding image based measurements. Let’s recap the notation and geometry first introduced in part […]

### Sensor Fusion – Part 3: Implementation of Gyro-Accel Sensor Fusion

May 2, 2017

In the previous posts, we laid the mathematical foundation necessary for implementing the error state kalman filter. In this post, we’ll provide the Matlab implementation […]

### Sensor Fusion: Part 2 (combining Gyro-Accel data)

April 30, 2017

In the previous post, we laid some of the mathematical foundation behind the kalman filter. In this post, we’ll look at our first concrete example […]

### Sensor Fusion: Part 1

April 27, 2017

In this series of posts, I’ll provide the mathematical derivations, implementation details and my own insights for the sensor fusion algorithm described in 1. This paper describes a […]

### IMU Sampling using the Raspberry Pi

March 11, 2017

In this post, I’ll describe the lessons learnt from trying to sample IMU sensors to obtain raw gyroscope and accelerometer data as input to sensor […]

### Bundle Adjustment – Part 4

January 29, 2017

In the last post, we applied bundle adjustment to optimize camera intrinsic and extrinsic parameters keeping the position of the object points fixed. In this […]

### Bundle Adjustment – Part 3: Simulation Results

October 25, 2016

In the previous posts we considered how to calculate the Jacobians for Bundle Adjustment (BA) and their relative magnitudes and some of their properties. In […]

### Bundle Adjustment – Part 2: Jacobians

October 19, 2016

In the previous post, we considered the basics of bundle adjustment (BA) and discussed how to obtain the expressions for the jacobian matrices for the […]

### Bundle Adjustment – Part 1: Jacobians

October 13, 2016

Bundle Adjustment (BA) is a well established technique in Computer Vision typically used as the last step in many feature based 3D reconstruction algorithms to […]