Cartographer
fly1ng_duck
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Carto更新
// Applies the 'odds' specified when calling ComputeLookupTableToApplyOdds() // to the probability of the cell at 'xy_index' if the cell has not already // been updated. Multiple updates of the ...原创 2021-08-01 00:03:25 · 128 阅读 · 0 评论 -
protobuf
这是谷歌一个开源的交换与存储数据的轮子https://www.ibm.com/developerworks/cn/linux/l-cn-gpb/index.html 绝对域名1.proto文件需要编译2.编译后生成头文件和实现文件cc 头文件生成了对应的消息类 cc负责3.可以利用生成的消息累进行读写 ,需要编写读写类(当我们需要将该结构化数据保存到磁盘上时,类 lm::helloworld 已经...原创 2018-07-04 09:49:07 · 213 阅读 · 0 评论 -
Cartographer 1.xy_index
/* * Copyright 2016 The Cartographer Authors * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obt...原创 2018-07-04 16:23:50 · 281 阅读 · 0 评论 -
Cartographer 2.map_limits.h
/* * Copyright 2016 The Cartographer Authors * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtai...原创 2018-07-04 18:57:44 · 558 阅读 · 0 评论 -
Cartographer 论文
scans 就是激光雷达从激光坐标系到局部地图坐标系的映射。submaps就是都过在激光在局部地图坐标系的映射构建的概率地图ceres scan matching就是通过插值平滑,将二维的局部概率地图变成平滑的一维函数构建最小而成问题。Cartographer主要是解决回环问题。回环时消除局部地图匹配形成的误差。branch and bound 主要是解决搜索空间的问题...原创 2018-07-05 15:36:00 · 751 阅读 · 0 评论 -
cartographer 论文
resent local maps for scan-matching is prone to accumurate the errors;once the submaps completed ,no more new scans inserted into the submaps; submap停止更新,why?然后所有子地图和scans都视为loop closurea submap...原创 2018-09-19 15:15:40 · 362 阅读 · 0 评论