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The first post in this series made it clear that the major computational and storage costs to implementing the GaussNewton algorithm come in computing the matrices and . By carefully avoiding materialization of the Jacobian matrix and the residual vector, … Continue reading
I sketched a naïve implementation of the GaussNewton algorithm for sphere fitting, and provided an implementation in Octave. While it works fine on a laptop, it uses far too much memory to handle more than a handful of calibration samples … Continue reading
In some calibration strategies we encounter a sphere fitting problem: we need to find the map that does the best job sending the observed data to a unit sphere. This simple problem statement leaves two critical questions unanswered. What family … Continue reading
[Update 24 Aug 2012: This post gives good detail about how to communicate with the sensors on the 9DoF Sensor Stick, but if you want a cleaner solution (that has been updated for Arduino 1.0), have a look at this … Continue reading