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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 -
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 -
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
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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
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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
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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
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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.
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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 -
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.
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]