Sensor Fusion: Part 2 (combining Gyro-Accel data)
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
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
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
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
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
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
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 […]
Note on POSIT
The purpose of the this post is to provide my thoughts on what goes on during an iteration of POSIT. This post is not meant to […]
Aerial Photography from a Moving Platform – Part 2
In part 1 of this series, we examined the issue of depth of field and its relationship with aperture and focal length in detail. We […]
Aerial Photography from a Moving Platform – Part 1
Most applications of commercial drones today involve aerial photographs as an input. Taking good photos from a moving platform involves a number of challenges, some […]