扫描匹配的方法

1.0 cartographer 前端两种匹配：

1.1 相关方法

double RealTimeCorrelativeScanMatcher2D::Match(
    const transform::Rigid2d& initial_pose_estimate,
    const sensor::PointCloud& point_cloud, const Grid2D& grid,
    transform::Rigid2d* pose_estimate)

输入 ：
预计位姿（推算位子）
点云数据
概率栅格地图
估计位姿（引用输出）

返回：
最佳得分

步骤：
// 初始位姿的角度
//将激光转到初始位姿的角度——点云开始为：baselink坐标系
//确定查询窗口 —— 角度+空间平面
//得到旋转的点云——查询角度范围 ×2 /角度分辨率——点云：对各个角度旋转
//将点云转到当前位姿下——平移
//生成平移的候选值， 只记录 x,y的偏移
//求取得分——遍历候选值， 再遍历激光点，遍历激光点时将xy的偏移量传入
//取得分最大的候选值的——偏移量
//输入的初始位子 + 偏移量

1.2 ceres 优化：

void CeresScanMatcher2D::Match(const Eigen::Vector2d& target_translation,
                               const transform::Rigid2d& initial_pose_estimate,
                               const sensor::PointCloud& point_cloud,
                               const Grid2D& grid,
                               transform::Rigid2d* const pose_estimate,
                               ceres::Solver::Summary* const summary) 

输入 ：
预计位姿（推算位子）
scanMatch匹配后位姿
点云数据
概率栅格地图
优化后位姿（输出引用）
ceres 优化器

步骤：
构建观测残差——栅格不连续，三次卷积插值 使其连续可导
构建平移变化量残差
构建旋转变化量残差
ceres 求解，得pose+cost

返回： 最佳得分

https://www.jianshu.com/p/9a8089cf7d3f
https://blog.csdn.net/xiaoma_bk/article/details/85046905

2.0 扫描匹配的方法

参考：https://blog.csdn.net/datase/article/details/78163063

2.1 Beam Model

Beam Model我将它叫做测量光束模型。个人理解，它是一种完全的物理模型，只针对激光发出的测量光束建模。将一次测量误差分解为四个误差。

2.2 2.Likehood field

似然场模型，和测量光束模型相比，考虑了地图的因素。不再是对激光的扫描线物理建模，而是考虑测量到的物体的因素。

似然比模型本身是一个传感器观测模型，之所以可以实现扫描匹配，是通过划分栅格，步进的方式求的最大的Score，将此作为最佳的位姿。

（以下没有具体分析）

for k=1:size(zt,1)
    if zt(k,2)>0
        d = -grid_dim/2;
    else
        d = grid_dim/2;
    end
    phi = pi_to_pi(zt(k,2) + x(3));
    if zt(k,1) ~= Z_max
        ppx = [x(1),x(1) + zt(k,1)*cos(phi) + d];
        ppy = [x(2),x(2) + zt(k,1)*sin(phi) + d];
        end_points = [end_points;ppx(2),ppy(2)];
         
        wm = likelihood_field_range_finder_model(X(j,:)',xsensor,...
                   zt(k,:)',nearest_wall, grid_dim, std_hit,Z_weights,Z_max);
        W(j) = W(j) * wm;
    else
        dist = Z_max + std_hit*randn(1);
        ppx = [x(1),x(1) + dist*cos(phi) + d];
        ppy = [x(2),x(2) + dist*sin(phi) + d];
        missed_points = [missed_points;ppx(2),ppy(2)];               
    end
    set(handle_sensor_ray(k),'XData', ppx, 'YData', ppy)
end

function q = likelihood_field_range_finder_model(X,x_sensor,zt,N,dim,std_hit,Zw,z_max)
% retorna probabilidad de medida range finder :)
% X col, zt col, xsen col
[n,m] = size(N);
 
% Robot global position and orientation
theta = X(3);
 
% Beam global angle
theta_sen = zt(2);
phi = pi_to_pi(theta + theta_sen);
 
%Tranf matrix in case sensor has relative position respecto to robot's CG
rotS = [cos(theta),-sin(theta);sin(theta),cos(theta)];
 
% Prob. distros parameters
sigmaR = std_hit;
zhit  = Zw(1);
zrand = Zw(2);
zmax  = Zw(3);
 
% Actual algo
q = 1;
if zt(1) ~= z_max
    % get global pos of end point of measument
    xz = X(1:2) + rotS*x_sensor + zt(1)*[cos(phi);
                                         sin(phi)];
    xi = floor(xz(1)/dim) + 1;
    yi = floor(xz(2)/dim) + 1;
     
    % if end point doesn't lay inside map: unknown
    if xi<1 || xi>n || yi<1 || yi>m
        q = 1.0/z_max; % all measurements equally likely, uniform in range [0-zmax]
        return
    end
     
    dist2 = N(xi,yi);
    gd = gauss_1D(0,sigmaR,dist2);
    q = zhit*gd + zrand/zmax;
end
 
end

3.Correlation based sensor models相关分析模型

》 https://blog.csdn.net/djfjkj52/article/details/106490787

4.MCL

蒙特卡洛方法

5.AngleHistogram

角度直方图

6.ICP/PLICP/MBICP/IDL

属于ICP系列，经典ICP方法，点到线距离ICP

FAST ICP

% Fast scan matching, note this may get stuck in local minimas

function [pose, bestHits] = FastMatch(gridmap, scan, pose, searchResolution)

% Grid map information
metricMap = gridmap.metricMap;
ipixel = 1 / gridmap.pixelSize;
minX   = gridmap.topLeftCorner(1);
minY   = gridmap.topLeftCorner(2);
nCols  = size(metricMap, 2);
nRows  = size(metricMap, 1);

% Go down the hill
maxIter = 50;
maxDepth = 3;
iter = 0;
depth = 0;

pixelScan = scan * ipixel;
bestPose  = pose;
bestScore = Inf;
t = searchResolution(1);
r = searchResolution(3);

while iter < maxIter
    noChange = true;
    
    % Rotation
    for theta = pose(3) + [-r, 0, r]
        
        ct = cos(theta);
        st = sin(theta);
        S  = pixelScan * [ct, st; -st, ct];
        
        % Translation
        for tx = pose(1) + [-t, 0, t]
            Sx = round(S(:,1)+(tx-minX)*ipixel) + 1;
            for ty = pose(2) + [-t, 0, t]
                Sy = round(S(:,2)+(ty-minY)*ipixel) + 1;
                
                isIn = Sx>1 & Sy>1 & Sx<nCols & Sy<nRows;
                ix = Sx(isIn);
                iy = Sy(isIn);
                
                % metric socre
                idx = iy + (ix-1)*nRows;
                hits = metricMap(idx);
                score = sum(hits);
                
                % update 
                if score < bestScore
                    noChange  = false;
                    bestPose  = [tx; ty; theta];
                    bestScore = score;
                    bestHits  = hits;
                end
                
            end
        end
    end
    
    % No better match was found, increase resolution
    if noChange
        r = r / 2;
        t = t / 2;
        depth = depth + 1;
        if depth > maxDepth
            break;
        end
    end
    
    pose = bestPose;
    iter = iter + 1;
    
end

7.NDT

正态分布变换

8.pIC

结合概率的方法

9.线特征