VIO = Visual inertial odometry = 視覺 + IMU

What's the VIO?

VIO = Visual inertial odometry = 視覺 + IMU

I hope I can have a small UAS as Auterion to fly in the place without GNSS.

In the following website (https://docs.px4.io/v1.12/en/computer_vision/visual_inertial_odometry.html), it said 

"Visual Inertial Odometry (VIO) is a computer vision technique used for estimating the 3D pose (local position and orientation) and velocity of a moving vehicle relative to a local starting position. It is commonly used to navigate a vehicle in situations where GPS is absent or unreliable (e.g. indoors, or when flying under a bridge).

VIO uses Visual Odometry (opens new window)to estimate vehicle pose from camera images, combined with inertial measurements from the vehicle IMU (to correct for errors associated with rapid vehicle movement resulting in poor image capture).

This topic shows how to set up PX4 and a companion computer to use the supported VIO setup."

Read more!

Japanese TV drama and anime

最近看過一些日本電視劇及動漫

動漫(Anime)

名偵探柯南(未完結)

刀劍神域 (Sword Art Online) (未完結)

陰陽眼見子

鬼滅之刃 (未完結)

處刑少女的生存之道 (未完結)

間諜家家酒(Spy x Family) (未完結)

偵探，已經死了 

史上最強大魔王轉生為村民A (未完結)

魔女之旅(未完成)

裏世界遠足(partial)

轉生成蜘蛛又怎樣(partial)

與變成異世界美少女大叔一起冒險(partial)

持續狩獵史萊姆三百年(partial)

Re-Zero從零開始的異世界生活 (partial)

86-不存在的戰區(未來要看的)

還有一些不記得了.......

電視劇(TV Drama)

深夜食堂

昨日的美食

名偵探主廚

日本沉沒

99.9不可能的翻案

女大律師前男友的怪遺言

還有一些不記得了.....

Read more!

Chocolate is my favorite

I love chocolate.  I am surprised to see that there are some links that are not chocolate-related stuffs when I used "choco" as a keyword to search in Google.

Choco Department is a department (province/region) of Western Colombia.  It looks it is pretty and worth visiting.

Chocoshop is a women's underwear shop in Taiwan.

What's a surprise!  

Read more!

Vegetative phase, reproductive phase, then what

I have passed reproductive age.  From the point of view of plants, it is not only passed the vegetative phase, but also the reproductive phase.

It seems that we shouldn't look at life this way, otherwise it's like...

However, photosynthesis provides energy for plants to grow, plants stretch their body under the sun.  This kind of plant life has always been a desirable life. However, in this world, we have to face climate change, face the endless expansion and deforestation by human beings, scary insects, etc.  It seems that plant life is not easy.

我已經過了生育的年齡了，從植物角度來看，那不但是已經過了 vegetative phase，也過了 reproductive phase 嗎？....

好像不能這樣來看人生，不然就好像...。

不過可以靠著光合作用生長、在太陽下舒展身軀的植物人生，一直是一種令人嚮往的生活啊，不過現世要面對氣候變遷，面對人類無止境的擴張砍伐，還有我一直害怕的蟲，植物人生也不見得容易。

Read more!

心理的傷，聲音聽得到

這是一個podcasat，值得聽聽

【聰明慢老Ep.25】心裡的傷，聲音聽得到　聲音教練帶你保養聲帶、善用聲音，表達完整的自己

Read more!

Application of smart images in agriculture, forestry, fishery and animal husbandry

This is a speech given by Professor Yanfu Kuo from the Department of  Biomechatronics Engineering at the National Taiwan University. Those who are interested in smart images and AI models can listen it.

這是台大生機系郭彥甫老師的演講 "智慧影像在農林漁牧的應用"，對於智慧影像及AI模型有興趣的人，可以來聽聽看喔。

Read more!

High Frequency Noise

My colleague was doing 3D printing in the office today.  He did it in the office instead of in the mechanical workspace. The high-frequency noise made me uncomfortable and headache.  I asked him not to do it in the office area, otherwise, I would not be able to work at all. 

In the beginning, he said that he didn't feel anything about the noise, so he thought it wouldn't matter at all.  After I complained 3 times, he finally moved it to another place to carry on his work.

I'm actually a little helpless, why these people could work in such a noisy environment and feel nothing.  Why do they have to speak with a quarreling volume while chatting or discussion things.  Could we just use a normal voice to talk?

Read more!

A simple Microwave Brownie recipe

We don't have time to make Brownie from scratch, so we use Ghirardelli Chocolate Triple Chocolate.

Unfortunately, it is too sweet, so we made a little bit of adjustment.

1 pouch mix

+ 100 g flour

+ 1 tsp salt

-> mix well

+ 80 g water (1/3 cup water)

+ 65 g vegetable oil (1/3 cup vegetable oil)

+ 2 eggs

-> mix well

-> Microwave with Medium power (i.e. power 2) for 12 min

-> Microwave with Low power (i.e. power 5) for another 5 min

(note) We added some raisins this time and it tastes OK.

Read more!

Losing ourselves

No one was working in the lab at night and on weekends when I studied in the USA.  Security guards even came to drive people home after 7 pm at the USDA.

When working in Australia, people started to leave work from 4:00 pm, and almost no one stayed in the laboratory after 6:00 pm.

At TORI, it is basically the same, people work on regular working hours.  But in the industry, the boss or the cooperative team expects employees to be available and work at night and on weekends. Why! Is the quality of life so unimportant?  What have we achieved while losing ourselves?

I want to get myself back.  I have to change because I don't need to be alive if my life has no me in there.

以前在美國時，到了晚上及週末，實驗室就沒人在工作了。在USDA待超過晚上7點時，警衛就來趕人回家。

在澳洲工作時，下午4點開始就陸陸續續有人開始下班，6點過後幾乎沒人還會待在實驗室。

在 TORI時，基本上也是如此，但是到了業界，業主或老闆或合作團隊都期待員工可以24小時工作和待命。為什麼啊！難道生活品質這麼不重要？在失去自我的同時，我們到底成就了什麼？

Read more!

Endless noise

It's a world full of noise, including noise from auditory, visual, and olfactory. 

I am tired of hearing, seeing, and smelling all of these. I don't understand why a person needs to use a loud voice to talk to me when I stand just next to the person.  I don't understand why people need to use super blight flashing neon lights to attract customers, drivers use very bright head and tail lights everywhere.

I'm envious of people who can shut off their five senses anytime at will.

Read more!