This is the third post in my series on control systems. In part-1 we explored what the differential equations can do for you and how to make use of a differential equation, particular the Euler-Lagrange equations to describe a mechanical system. In part-2, we derived these differential equations for our 'pendulum on a cart' system. … Continue reading Part-3 : Controlling a Mechanical System
Code : [github/mesh_image_align] Today I am trying out this one simple idea I have in my mind. Given an image of an object (I will use banana) and it's 3d mesh model the objective is to get the pose of the object relative to the camera. Once you have it, you can project the 3d … Continue reading Align a 3d mesh model with its image
Amazing progress has been made in deep learning. I have been Tensorflow for a while now. I started out with tf0.6 then upgraded to tf0.12 then to tf1.0. The latest version is tf1.10 which is supposed to provide a stable API. I have a lot of code which has now become incompatible. The tf0.6's saver … Continue reading Organizing my Neural Network Codes
This is my second part in a built-up towards understanding and implementing a real world control system. In my past post, I talked about differential equations. The take home message from my last post was that, given a mechanical system and solving the free body diagram of it, we can get the differential equations describing … Continue reading Part-2 : Simulating a Mechanical System with Differential Equations
Just a quick cheatsheet on derivatives (of scalars and vectors) wrt of a vector. This is borrowed from the wiki page : Matrix Calculus. Usually, in print following notations are in use: A : Matrix (capital and bold) b : Vector (small and bold) c : scalar (small and not bold) The rules for derivatives … Continue reading Vector Differentiation
What's the point of studying differential equations? Can we not do away with them? I almost never see an application of those as a computer science or an ECE systems student. Is it like the analog systems, we study for the legacy reason. Can we not do away from differential equations. I used to side … Continue reading Part-1 : Why should I study differential equations?
Given a set of correct keypoint matches and a fundamental matrix, to optimize the coordinates of these key points such that they satisfy the epipolar constraint. A point (x,y) on the left image (pose: [I|0]) and (x',y') on the right image (pose: [R|t]). These points are undistorted and in normalized image coordinates. Having known the pose … Continue reading Optimal Triangulation for Tuning Keypoint Co-ordinates