A Tutorial on Graph-Based SLAM笔记

A Tutorial on Graph-Based SLAM

Cyrill Stachniss Wolfram Burgard

• A graph

  • Node: The poses of the robot at different points
  • Edges: Constraints between the poses. Obtained from observations or movement actions
    • a probability distribution over a relative transformations between two pose nodes
    • eg odometry measurement, aligning observations from two robot locations.
    • Include data association problem. included in front-end.
  • tasks of pose graph slam
    • Graph construction (Front-end)
    • Graph optimization (Back-end)

• Solutions for SLAM

  Estimating the robot trajectory and the map of environment.

  • Filtering: on-line state estimation of current robot position and the map
  • Smoothing: estimate the full trajectory from full set of measurements.

• Solving a large error minimization problem to find a configuration of the graph (trajectory) that is maximally consistent with the measurement.
  $$\underset{x}{\min }$$