gmapping论文阅读笔记

下面是看论文的一些心得
论文原文地址risetti07tro

Section One
首先指出了Rao-Blackwellized particle filters存在的问题
1. 大量的粒子滤波会使得计算过程相当复杂，主要挑战在减少粒子数量
2. 重采样的步骤可能会消灭正确的粒子（This effect is also known as the particle
depletion problem or as particle impoverishment）
注：This particle depletion problem is mainly due to the resampling process which tends to eliminate particles with low weights
提出了两个解决办法：
1、 proposal distribution

A proposal distribution that considers the accuracy of the
robot’s sensors and allows us to draw particles in a highly
accurate manner

就是根据传感器的数据更准确的产生下一代粒子（不仅仅考虑odometry information）

2、 adaptive resampling technique.

An adaptive resampling technique which maintains a
reasonable variety of particles and in this way enables
the algorithm to learn an accurate map while reducing
the risk of particle depletion

上面是介绍，下面是解释，只在必要的时候进行重采样这样可以保持好一个合理的粒子密度
the adaptive resampling strategy, allows us to perform a resampling step only when needed and in this
way keeping a reasonable particle diversity

Section Two
Rao-Blackwellized particle是怎么去解决SLAM问题的

PS：SLA