SLAM文献阅读
- [1] Comparison of Optimization Techniques for 3D Graph-based SLAM
- [2] AEKF-SLAM: A New Algorithm for Robotic Underwater Navigation
- [3] A SLAM-based Approach for Underwater Mapping using AUVs with Poor Inertial Information
- [4] Map Building Fusing Acoustic and Visual Information using Autonomous Underwater Vehicles
[1] Comparison of Optimization Techniques for 3D Graph-based SLAM
综述性论文,针对Graph SLAM的总体框架、前端、后端分别进行描述。
- 前端分类为map to map (构建submap), image to map(通过点特征确定相机相对于map的位姿), image to image (相机图像匹配,simplest);
- 后端中主要使用了三种工具:G2O(General (Hyper) Graph Optimization)、GTSAM(Georgia Tech Smoothing and Mapping)和HOG-Man(Hierarchical Optimization on Manifolds)
G2O: It is a C++ framework for performing the optimization of nonlinear least squares problems that can be embedded as a graph or in an hyper-graph. (工程常用)
GTSAM: It is a C++ library based on factor graphs. A factor graph consists of factors connected to variables. The factors represent probabilistic information on the unknown random variables in the estimation problem. (代码具有优秀的编程规范,适合学习, iSAM 求解器)
HOG-Man: It applies Gauss Newton with sparse Cholesky factorization that considers a manifold representation of the state space to better deal with the camera rotations. (划分submap,多层图结构)
[2] AEKF-SLAM: A New Algorithm for Robotic Underwater Navigation
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sensors的论文感觉都挺长啊,这篇论文里综述部分整理的很有条理,表格如下