Transforming through coordination systems can be confused for some developers like me. But we have to know those commonly used systems and know the bridge between these words. As an autonomous system developer, the commonly used coordination systems are: WGS84, local Cartesian, and ego. Although it is not that important to know the projection theory behind these coordinates, it is good to know how to transform between the coordinations. Conversion from WGS84 to Cartesian We first need to choose a reference point in WGS84 as the cartesian’s origin.

From the perceptive of the structure of mamba, this is a discrete selective space machine that runs in linear time using linear space. lets say, matrix A is a state space matrix for the last system status h(t). we then can calculate the next h(t+1) based on the following equation: $$ \begin{equation}h(t) = Ah(t-1) + Bx(t)\end{equation} $$ $$ y = C*h(t) $$ Where B is a weight for input x(t) and C is the weight for output y.

Introduction: Recently, while acquainting myself with the new company, I encountered a piece of unusual code. It seems quite straightforward. We start by declaring a base class with a private virtual function, which is then called by a public member function. Next, we derive a class from the base class and override the virtual function. This pattern is known as the Template Pattern. It defines the skeleton of an algorithm but allows subclasses to override specific steps without altering its structure.

Introduction This is the very first touch for me to learn how to use cutlass and how it works. Until this moment, there is a little textbook teach us how to use cutlass and how to develop with it. So most of the paper I read are from Zhihu and official. As the first touch on cutlass, I would not dig deep into how to manipulate the cutlass. Why cutlass? I try to avoid cliche.

Basically, v2x means vehicle to everything. But how we use this kind of technology into autonomous driving? Or, in other words, what kind of advantages does V2X provide? Some say the road side sensor can detect car crash and letting nearby vehicles know. And they believe that the RSU could detect pedestrians outside the detection range of vehicle as thus prevent crashing. People also argue that V2X could be used as a valuable add-on to autonomous system as it provides precise traffic information.

About myself Here is Zhao Gong. I used to be an algorithm engineer at Plus and currently working for BMW as a software developer. I got my masters from the Technical University of Denmark. Github is one of important portals for me to connect to the world. Blog Pages 页面链接