Yutian Chen's Posts
Direct Method SLAM - Jacobian Formulation
8/15/2023 SLAM, Optimization
> This post is mainly a re-formulation and detailed expansion for the section 8.4, "Direct Method" in ["14 lectures on Visual SLAM"](https://github.com/gaoxiang12/slambook-en). > > When I was working on direct method SLAM, I found the notations used on the book is hard to understand and many details to derive the final equation are omitted. Hence, I wrote this post as a note and record for my ow...
Optimizers in PyPose - Gauss Newton and Levenberg-Marquadt
7/13/2023 Machine Learning, SLAM
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 **real time**. Naive first order optimizers is not efficient enough (requires many iterations to converge) for this situation. In this post, I will introduce the concept of secon...
C0VM.ts: C0 Visualizer on the cloud
12/5/2022 Frontend
## 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 **15-411 Compiler Design** by more than 600 students each semester. <!--more--> ## About This Project This project is my project for Summer Undergraduate Research Fellow...
Build Your Own Google Drive with AWS S3
1/18/2022 Frontend
This system is deployed on [My blog's file Sharing Page](/notes) as a front-end application. The source code is also avalable in `React-S3-Viewer` Repo [here](https://github.com/MarkChenYutian/React-S3-viewer). Reference Information: * [Viewing Photo stored in S3 Buckets](https://docs.aws.amazon.com/sdk-for-javascript/v2/developer-guide/s3-example-photos-view.html) * [AWS SDK for JavaScript](ht...
Time Complexity and Asymptotic Notation
8/31/2019 Algorithm
## 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 effect on the overall computational time for the whole algorithm. Therefore, the main trend of computational time is determined by the highest term of the polynomial. <!--more...