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看了一下港科的基于vins拓展的论文<relocalization, global optimization and merging for vins>,在回环的实现部分总体没有什么变化,DBoW2 + PnPRANSAC + 4DOF pose graph,唯一的改动是在pnp前面加了个fundamental matrix RANSAC,应该是有效果调优的,但是根据之前VINS和LDSO的写法,DBoW2 + PnPRANSAC也是够用的.别的一些不同的操作就是在用回环帧更新当前pose的位…

(ACM ICPC 2013–2014, NEERC, Northern Subregional Contest) Flight Boarding OptimizationInput file: flight.inOutput file: flight.outTime limit: 2 secondsMemory limit: 256 megabytesPeter is an executive boarding manager in Byteland airport. His job is t…

Join Optimization Join Optimization Improvements to the Hive Optimizer Star Join Optimization Star Schema Example Prior Support for MAPJOIN Limitations of Prior Implementation Enhancements for Star Joins Optimize Chains of Map Joins Current and Futur…

DesktopGood performance is critical to the success of many games. Below are some simple guidelines for maximizing the speed of your game's graphical rendering. 好的性能,是很多游戏成功 的关键.下面是一些简单的指引,最大限度地提高你的游戏图形渲染速度. Optimizing Meshes 优化网格You only pay a render…

数据库启动时有莫名的提示map size mismatch; abort 原帖在这里:http://t.askmaclean.com/thread-1397-1-1.html 今天帮网友(centos 6.3   ora 10g)处理一个问题,处理方法如下,另外再多说一句不要违反官方的认证要求,否者就会出现一些奇怪的问题.低于11203的db 不能安装在rhel 6 and ol6上(可以强制安装,但是官方不支持,也不认证) 1#   发表于 2012-7-10 12:27:05 | 查看: 1…

This article is a combined effort of Innofied Javascript developers Puja Deora and Subhajit Ghosh) We have been working on a project for past 8 months (ongoing). Over the course of this project, we have learnt that small tweaks to general coding prac…

如果你只是想找一款称手的js加载器,可以参考这篇js loader benchmarks(http://artzstudio.com/files/Boot/test/benchmarks/script.html),即便这篇文章已经例举得够多的了,还是没有涵盖到很多已经广为使用的库,如果要跟你自己熟悉的库来做对比,可以仿照文中的例子自行对比. 我要说的是require.js,可以作为加载器来使用,但它诞生的目的不是为了异步加载脚本,而是为了模块化,同时也就不会污染global.简单做了一个与ang…

A code sequence made up multiple instructions and specifying an offset from a base address is identified in an object file. The offset from the base address corresponds to an offset location in a memory configured for storing an address of a variable…

About this Course This course will teach you the "magic" of getting deep learning to work well. Rather than the deep learning process being a black box, you will understand what drives performance, and be able to more systematically get good res…