白拾的笔记本

Occupancy grid Occupancy Map Calculus Practicle issues of Occupancy map Inverse Measurement Model Downsampling for lidar Other Type of Map Supplementary Readings Note of Occupancy Maps. (MUST READ) Lanelets: Efficient Map Representation for Autonomous Driving. (Optional) Probabilistic robotics. Read Chapter 9 - Occupancy Grid Mapping for an overview of how occupancy grids are generated Origin: Dr. Chris Lu (Homepage) Translate + Edit: YangSier (Homepage) :four_leaf_clov ...

LiDAR LiDAR calculus State Estimation via Point Set Regression Problem define ICP Algorithm Origin: Dr. Chris Lu (Homepage) Translate + Edit: YangSier (Homepage) :four_leaf_clover:碎碎念:four_leaf_clover: Hello米娜桑，这里是英国留学中的杨丝儿。我的博客的关键词集中在编程、算法、机器人、人工智能、数学等等，点个关注吧，持续高质量输出中。 :cherry_blossom:唠嗑QQ群：兔叽的魔术工房 (942848525) :star:B站账号：白拾Official（活跃于知识区和动画区）

The coordinate systems in mobile robotics world coordinate system ego-vehicle coordinate system Rigid Body Assumption Rigid Body is a solid body in which deformation is zero or so small it can be neglected. rigid body assumption implied that movement of a sensor mounted on the robot should be the same as other co-located sensors and the whole platform. Motion in general Motion that can be described by a rotation and translation. There are 6 degree of freedom (DoF) in 3D space for rigid body ...

Diphone Phones are not a suitable unit for waveform concatenation, so we used diphones, which capture co-articulation. Diphone starts at the middle of one phone and ends at the middle of the other. Coarticulation is the overlapping of adjacent articulations or the influence of the target phoneme on surrounding phonemes. Middles of phones are more stable in their spectral properties than the edges, because of coarticulation. So, concatenating diphones should lead to smoother joins Waveform conc ...

Tokenisation & normalisation 标签化 & 正则化 When processing almost any text, we need to find the words. This involves splitting the input character sequence into tokens and normalising each token into words. Handwritten rules Every user of a language holds a lot of knowledge about that language in their mind. One way to capture and make use of that knowledge is in the form of rules. Finite state transducer Finite State Transducers provide general-purpose machinery for rewriting an input seq ...

Prerequisite knowledge states of mobile robot, motion model, position orientation and velocity, More challenge see: GPS Kalman Filter Predict, measure, combining Prediction and correction Linear Kalman Filter Recursive Least Squares + Process Model Extended Kalman Filter Linear approximation, first-order term, still linear. Linearized motion model, Linearized measurement model. Jacobian matrix Limitation of Kalman Filter Summary The Kalman Filter is very similar to RLS but includes ...

Problem Formulation pixel-level prediction Challenge of Semantic Segmentation General vision challenges: occlusion, truncation, scale and illumination changes Challenges specific to segmentation: smooth boundaries are hard to obtain due to the intrinsic ambiguity and resolution limitation in the image space. Segmentation with DNN Semantic Segmentation for Scene Understanding RANSAC algorithm boundaries Additional material True Positive, False Positive, False Negative individual obj ...

Module 1: Phonetics and Representations of Speech Systems in Speech Production Speech production involves three systems in the body: the respiratory system, the phonation system, and the articulation system (Figure 1.2). The Respiratory System The respiratory system supplies the air needed to initiate speech sounds (see Figure 1.3). It consists of parts of the body that allow us to breathe, including the lungs, the diaphragm, the muscles of the rib cage, and the abdominal muscles. The Phonatio ...

Harmonics In the frequency domain, periodic signals have harmonic structure: they contain energy only at multiples of their fundamental frequency. Voice sounds different from unvoiced sounds, has repeating pattern, in periodicity. So, the peak of the sound in the frequency domain is clear to observe. Impulse train An impulse train is the simplest periodic signal that has energy at all multiples of its fundamental frequency (and energy are evenly distributed). Spectral envelope Varying the shap ...

Introduction This week we continue the theme of looking at general kinds of harm technology can cause if we’re not careful with it. The topic we’re looking at is one that, with a few exceptions, gets a lot less press I think than bias because it’s a lot harder to quantify (and as established in week 1, computer scientists love quantitative data) That topic is human beings, and specifically what we might unintentionally affect when we remove people from a system, or at least change their involve ...

Introduction We’ve covered some important background concepts in talking about Responsibility, Power and Data. The idea behind these has been to motivate some of why we should be interested in ethics in computer science, and why we are often going to be at least partially responsible for anticipating and mitigating harms that technical artifacts can bring about. For this middle portion of the course, we are looking at some broad categories of harm (some of the Data readings begun this process). ...

The increasing availability of digital data reflecting economic and human development, and in particular the availability of data emitted as a by-product of people’s use of technological devices and services, has both political and practical implications for the way people are seen and treated by the state and by the private sector. Yet the data revolution is so far primarily a technical one: the power of data to sort, categorise and intervene has not yet been explicitly connected to a social ju ...

Definition Your ability to see your will made manifest in the world. Explanation If you want to do something, how easy is it for you to do it. To naively put this in informatics terms, you could think of it as the weight associated with a person’s node in a network. Because we live in a world of systems (political, legal, cultural, organisational, social), a lot of that is tied up in how those system are designed. And a lot of that is dependent on who they were designed for, or by. Because, i ...

Challenge of object detection not fully observed, scale distraction, illumination changes. Basic concepts bounding box and class labels, intersection of union (IoU) See more at: Evaluationg Mateics 2D Object Detection Steps (inference) feature extractor, computationally expensive, lower widthe and height, greater depth Prior bounding boxes, or anchor bounding boxes, assume bounding boxes, then guess where and how large they are. centroid location (where), box dimensions (size) Every ...

Since most material has been covered in previous blogs, I will go through this lecture contents in brief. Brief overview More Contents Activation function example Task example For classification we have: Softmax output layer Cross-entropy Loss function For regression we have: Linear output layer Mean square error lLoss function Supplement reading LeCun, Yann, Yoshua Bengio, and Geoffrey Hinton. “Deep learning.” nature 521.7553 (2015): 436-444. A Comprehensive Guide to Con ...