In this paper, we focus on the problem of motion tracking in unknown environments using visual and inertial sensors.We term this estimation task visual-inertial odometry (VIO), in analogy to the well-known visual-odometry problem. We present a detailed study of EKF-based VIO algorithms, by comparing both their theoretical properties and empirical performance. We show that an EKF formulation where the state vector comprises a sliding window of poses (the MSCKF algorithm) attains better accuracy, consistency, and computational efficiency than the SLAM formulation of the EKF, in which the state vector contains the current pose and the features seen by the camera. Moreover, we prove that both types of EKF approaches are inconsistent, due to the way in which Jacobians are computed. Specifically, we show that the observability properties of the EKF’s linearized system models do not match those of the underlying system, which causes the filters to underestimate the uncertainty in the state estimates. Based on our analysis, we propose a novel, real-time EKF-based VIO algorithm, which achieves consistent estimation by (i) ensuring the correct observability properties of its linearized system model, and (ii) performing online estimation of the camera-to-IMU calibration parameters. This algorithm, which we term MSCKF 2.0, is shown to achieve accuracy and consistency higher than even an iterative, sliding-window fixed-lag smoother, in both Monte-Carlo simulations and real-world testing. I

VS2010中使用CChartCtrl高速绘图实例 详细用法： http://www.codeproject.com/KB/miscctrl/High-speedCharting.aspx

A transistor-level, design-intensive overview of high speed and high frequency monolithic integrated circuits for wireless and broadband systems from 2 GHz to 200 GHz, this comprehensive text covers high-speed, RF, mm-wave, and optical fibre circuits using nanoscale CMOS, SiGe BiCMOS, and III-V technologies. Step-by-step design methodologies, end-of chapter problems, and practical simulation and design projects are provided, making this an ideal resource for senior undergraduate and graduate courses in circuit design. With an emphasis on device-circuit topology interaction and optimization, it gives circuit designers and students alike an in-depth understanding of device structures and process limitations affecting circuit performance. Table of Contents Chapter 1 Introduction Chapter 2 High-frequency and high-data-rate communication systems Chapter 3 High-frequency linear noisy network analysis Chapter 4 High-frequency devices Chapter 5 Circuit analysis techniques for high-frequency integrated circuits Chapter 6 Tuned power amplifier design Chapter 7 Low-noise tuned amplifier design Chapter 8 Broadband low-noise and transimpedance amplifiers Chapter 9 Mixers, switches, modulators, and other control circuits Chapter 10 Design of voltage-controlled oscillators Chapter 11 High-speed digital logic Chapter 12 High-speed digital output drivers with waveshape control Chapter 13 SoC examples Appendix 1 Trigonometric identities Appendix 2 Baseband binary data formats and analysis Appendix 3 Linear matrix transformations Appendix 4 Fourier series Appendix 5 Exact noise analysis for a cascode amplifier with inductive degeneration Appendix 6 Noise analysis of the common-emitter amplifier with transformer feedback Appendix 7 Common-source amplifier with shunt-series transformer feedback Appendix 8 HiCUM level 0 model for a SiGe HBT Appendix 9 Technology parameters Appendix 10 Analytical study of oscillator phase noise Appendix 11 Physical constants Appendix 12 Letter frequency

High Precision Electronic Scale Design Based on MCU； High Precision Electronic Scale Design Based on MCU

电机控制，高性能，建模，从最基本的理论开始，介绍了交流直流电机理论，以及感应电机，同步电机的控制与建模

锅炉 每次启动新的编程项目时，您是否一遍又一遍地执行相同的步骤？ Boilr在这里可以帮助您从样板模板创建项目。 有关更多详细信息，请参见“页面。 笔记 这是对的。 进行此操作是因为原始项目不活跃。 特征 没有依赖关系（NodeJS，Python解释器等） -Boilr是一个静态链接的二进制文件。 抓住适合您的体系结构的一个，通过使用模板，您都可以节省时间！ 全部功能-Golang具有强大的模板构造，它们非常易于学习且功能强大。 简单简单的模板创建-创建样板模板非常容易，请查看以查看简单但非常有用的模板，该模板可通过单个命令将许可证添加到新项目中。 安装 Travis的每个发行版都会自动构建Linux和OSX的二进制文件。 您可以直接下载它们或运行安装脚本。 请参阅安装页面以获取更多信息。 自制软件（MacOS） brew tap Ilyes512/boilr brew i

包含使用代码，使用文件，历程。可以直接使用，不存在不能使用的情况，欢迎下载

惠普笔记本v3000系列High Definition Audio总线上的调制解调器设备 驱动问题modern驱动补充说明： 1）不要直接点setup安装，貌似不行； 2）在“计算机管理”中找到黄色感叹号的那个设备，右键“更新驱动程序”，选择到文件的解压缩目录，耐心等待片刻后即可安装成功。

提出一种快速双边滤波，并用其来作图像的色调映射。