Yutian Chen's Posts
Autonomy on the Moon - NASA Lunar Autonomy Challenge
9/5/2025
TL;DR This post introduces the autonomy stack we built for Lunar Autonomy Challenge (LAC) hosted by NASA. We achieved centimeter level terrain mapping precision over 200 square meters and ranked 3# over more than 20 univ...
Direct Method SLAM - Jacobian Formulation
8/16/2023
This post is mainly a re-formulation and detailed expansion for the section 8.4, "Direct Method" in "14 lectures on Visual SLAM". When I was working on direct method SLAM, I found the notations used on the book is hard t...
Optimizers in PyPose - Gauss Newton and Levenberg-Marquadt
7/14/2023
In deep learning, we usually use first-order optimizers like Stochastic Gradient Descent, Adam, or RMSProp. However, in SLAM problems, we use Bundle Adjustment to jointly optimize camera pose and landmark coordinate in r...
C0VM.ts: C0 Visualizer on the cloud
12/6/2022
What is C0 Language The programming language C0 is a carefully crafted subset of the C aimed at teaching introductory algorithms and imperative programming. It is used in 15-122 Principles of Imperative Programming and 1...
Build Your Own Google Drive with AWS S3
1/19/2022
This system is deployed on My blog's file Sharing Page as a front-end application. The source code is also avalable in React-S3-Viewer Repo here. Reference Information: Viewing Photo stored in S3 Buckets AWS SDK for Java...
Time Complexity and Asymptotic Notation
9/1/2019
Why we need Asymptotic Notation In most of the time, we don't need to calculate the exact computational time for a given algorithm. For an input that is large enough, the coefficient on the lowest term will have little e...