The graph in the article can be seen as a factor graph. VSLAM systems usually have a (kind of bipartite) factor graph with vertices/variables that are either keyframes or ‘good’ features, with edges/factors between features and the frames that see them and between adjacent frames; each of these edges are the factors in the graph. This structure results in very large but sparse graphs, and there are factor graph optimization libraries that take advantage of this sparsity (e.g. g2o or GTSAM.) These libraries also use specialized optimization techniques for some of the nonlinear manifolds (e.g. SO(3)) that arise in SLAM problems.

This is not a bug, it's a part of how Git fundamentally works. If you want to mitigate it you have to sign your commits. GitHub could only attribute commits in the UI if they're signed, but I suspect that this is considered too much friction to enable.

He also has a ton of other really great talks on controls engineering on his main channel.

> A vaccine is also an attenuated version of the virus so if becoming immune from the virus doesn't last long it won't last long from a vaccine.

A vaccine can be an attenuated virus, or a piece of mRNA or DNA, or a distinctive viral protein. Which type of vaccine you use+the adjuvants that go with it can result in very different immune responses and efficacy over time.

> This is false, immunity is strong and long-lasting.

Immunity to COVID-19 varies a lot person to person and is poorly understood. It does however appear that many people can be reinfected (especially people who had mild symptoms the first time.)

But we’ve had things like this for a long time. The police have acted like they do for generations, we had concentration camps for Japanese people during World War II, and we’ve always done a variety of other reprehensible things (propping up brutal dictators, destroying native civilizations, institutional racism of every possible flavor.) Frankly, I’m shocked that our word ever meant something.

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They aren’t necessarily to be blamed for that. This blog post isn’t really assigning blame to white homeowners.

Trotting out a nebulous, totally unsourced claim and then implying that anyone who questions you is wrong beyond help is… not exactly a convincing tactic.

What information are the people angry about the current situation missing?

> It's not about the reality of the situation; it seems like more of a tribal thing.

This seems needlessly dismissive. The “reality of the situation” is that police brutality needlessly kills people frequently, most of the people who are killed are black, the police involved are rarely held accountable, and nothing has seemed to change for years.

In the US policing doesn’t even make it in the top 20 most dangerous jobs by fatalities [1] or injuries [2].

[1]: https://advisorsmith.com/data/most-dangerous-jobs/ (original source is BLS; this source just did the per-worker math) [2]: https://www.bls.gov/iif/oshwc/osh/os/snr02_00_2018.xlsx (2018 is the latest data available from BLS)

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