Devon Morris

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The Deceptively Asymmetric Unit Sphere

The deficiencies of the Unit Sphere and an exploration of Lie groups

November 21, 2024

Camera Modeling: Pinhole Obsession

Pinhole Obsession is a dangerous condition that can occur after years spent in proximity to computer vision labs, researchers, and startups.

October 10, 2024

IMU Preintegration Basics (Part 5 of 5)

Now that we've eliminated sources of IMU errors, it's time to start merging our IMU with other sensors...starting with preintegration!

January 9, 2024

The Allan Deviation and IMU Error Modeling (Part 4 of 5)

Explore how to use the Allan Variance to analyze the power spectrum of your IMU and fit a model to find the coefficients.

December 18, 2023

Stochastic IMU Error Modeling (Part 3 of 5)

Let's dive deeper into characterizing the noise on IMU measurements, including stochastic IMU error modeling and random wallks.

December 5, 2023

Deterministic IMU Error Modeling (Part 2 of 5)

Are basic models for acceleration and angular velocity of IMUs correct? We'll explain where they're wrong and how to estimate how wrong.

November 30, 2023

Learn IMU Fundamentals (Part 1 of 5)

Dive into the measurement model of a 6-DOF IMU, namely an IMU with a 3-axis accelerometer and a 3-axis gyro.

November 27, 2023

Introduction to Optimization: Theory

We dip into optimization theory to show why optimization is relevant to us & the role that calculus plays in "making the best choice."

February 15, 2023

Calibration for Closers

The Tangram Vision Platform lets autonomy companies develop and deploy faster. See how it works by requesting a technical demo.