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Robotics:Perception课程笔记

针孔模型

ref: http://zhaoxuhui.top/blog/2019/10/14/robotics-perception-note-1.html#7pinhole-camera-model

• 理想
• 针对CCD类型的传感器

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2D

*单应(Homography)变换 **

3D

**射影(Projective)变换 **

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https://nvidia.github.io/cuda-python/module/cuda.html

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TYPE CV_8U: 8-bit unsigned integer (uchar) CV_8S: 8-bit signed integer (schar) CV_16U: 16-bit unsigned integer (ushort) CV_16S; 16-bit signed integer (short) CV_32S: 32-bit signed integer (int) CV_32F: 32-bit floating-point number (float) CV_64F: 64-bit floating-point number (double)

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NVIDIA Jetson AGX Xavier

Deep Learning Accelerator (DLA)

not as fast as the GPU but is extremely power efficient

• Convolution Core accelerates various convolutional layers. (equivalent to nn.Conv2d in PyTorch)
• Single Data Point Processor accelerates activation functions. It supports all commonly used activations like ReLU, PReLU, sigmoid, tanh and can even perform batch normalization and bias addition. (equivalent to nn.ReLU in PyTorch)
• Planar Data Processor accelerates max-pooling and average pooling layers. (equivalent to nn.MaxPool2d in PyTorch)

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• 逆透视变换(IPM)

多种方式及代码总结

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