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PA1-Solution.md

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Linux 基础

  1. 如何在 Ubuntu 中安装软件(命令行界面)?它们通常被安装在什么地方?

    sudo apt install <package>

    一般会安装到/usr/local目录下

  2. linux 的环境变量是什么?我如何定义新的环境变量?

    export PATH=/path

    可以通过export命令定义新的环境变量

  3. linux 根目录下面的目录结构是什么样的?至少说出 3 个目录的用途。

    /
    ├── bin				# 存放系统命令的目录,普通用户和超级用户都可以执行。单用户可执行,类似于win的安全模式
    ├── boot			# 系统启动目录
    ├── dev				# 设备文件,包括硬件
    ├── etc				# 配置文件存放目录
    ├── home			# 宿主用户目录
    ├── lib				# 系统调用的函数库保存位置
    ├── lib64			
    ├── lost+found
    ├── media			# 挂载目录(类似于win的盘符),媒体设备
    ├── mnt
    ├── opt				# 第三方安装的软件保存位置,但习惯把软件放置到/usr/local/目录中
    ├── proc
    ├── root			# root目录
    ├── run
    ├── sbin
    ├── snap
    ├── srv
    ├── swapfile
    ├── sys
    ├── tmp
    ├── usr				# Unix Software Resource 缩写,不是user,存放系统软件资源目录
    ├── var				# 动态数据保存位置,缓存、日志、软件文件
  4. 假设我要给 a.sh 加上可执行权限,该输入什么命令?

    chmod +x a.sh
  5. 假设我要将 a.sh 文件的所有者改成 xiang:xiang,该输入什么命令?

    sudo chown xiang:xiang a.sh

SLAM 综述文献阅读

  1. SLAM 会在哪些场合中用到?至少列举三个方向。

    机器人、AR、自动驾驶

  2. SLAM 中定位与建图是什么关系?为什么在定位的同时需要建图?

    Initially, mapping and localization were studied independently, later it was recognized that they are dependent. This means that, for being precisely localized in an environment, a correct map is necessary, but in order to construct a good map it is necessary to be properly localized when elements are added to the map.

  3. SLAM 发展历史如何?我们可以将它划分成哪几个阶段?

    Stage Topic
    classical age (1986-2004) Probabilistic approachesnd data association
    algorithmic-analysis age (2004-2015) Observability, consistency and convergence
    robust-perception age (2015-future) robust performance, high-level understanding, resource awareness, task-driven inference
  4. 列举三篇在 SLAM 领域的经典文献。

    [1] Georg Klein and David Murray, "Parallel Tracking and Mapping for Small AR Workspaces", Proc. ISMAR 2007

    [2] Mourikis A, Roumeliotis S. A multi-state constraint Kalman fil-ter for vision-aided inertial navigation[C] //Proceedings of IEEE International Conference on obotics and Automation. Los Alamitos: IEEE Computer Society Press, 2007: 3565-3572

    [3] T. Qin, P. Li and S. Shen, "VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator," in IEEE Transactions on Robotics, vol. 34, no. 4, pp. 1004-1020, Aug. 2018, doi: 10.1109/TRO.2018.2853729.

CMake 练习

CMake Practice

ORB-SLAM2

ORB SLAM2

以生成的 mono_euroc 为例,依赖的库有:

   $ readelf -d mono_euroc 

   Dynamic section at offset 0xeb58 contains 36 entries:
   Tag        Type                         Name/Value
   0x0000000000000001 (NEEDED)             Shared library: [libORB_SLAM2.so]
   0x0000000000000001 (NEEDED)             Shared library: [libopencv_imgcodecs.so.3.2]
   0x0000000000000001 (NEEDED)             Shared library: [libopencv_core.so.3.2]
   0x0000000000000001 (NEEDED)             Shared library: [libpangolin.so]
   0x0000000000000001 (NEEDED)             Shared library: [libOpenGL.so.0]
   0x0000000000000001 (NEEDED)             Shared library: [libGLEW.so.2.0]
   0x0000000000000001 (NEEDED)             Shared library: [libstdc++.so.6]
   0x0000000000000001 (NEEDED)             Shared library: [libgcc_s.so.1]
   0x0000000000000001 (NEEDED)             Shared library: [libc.so.6]

附加题

ORB SLAM2 Video

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