LeGO-LOAM 系列(2): imageProjection node 分析 一、对应源文件add_executable(imageProjection src/imageProjection.cpp)二、原理1. 分割2. 特征提取三、代码分析四、参考LeGO-LOAM和LOAM的区别与联系 - 知乎
LeGO-LOAM 系列(1): LeGO-LOAM 安装以及概述 一、githubGitHub - RobustFieldAutonomyLab/LeGO-LOAM （LeGO-LOAM 原始版本） GitHub - facontidavide/LeGO-LOAM-BOR（LeGO-LOAM 代码优化版本， forked from LeGO-LOAM）二、安装依赖
LOAM 系列(4): laserMappingnode 分析 一、对应源文件add_executable(alaserMapping src/laserMapping.cpp)target_link_libraries(alaserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})二、ROS interface1. subscribe topic// sharp ptsros::Subscriber subLaserCloudCornerLast = nh.subsc
LOAM 系列(3): laserOdometrynode 分析 一、对应源文件add_executable(alaserOdometry src/laserOdometry.cpp)target_link_libraries(alaserOdometry ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})二、代码分析1. subscribe topic// sharp point clouds， 更新 cornerSharpBufros::Subscriber subCornerPo
LOAM 系列(2): ascanRegistration node 分析 一、对应源文件add_executable(ascanRegistration src/scanRegistration.cpp)src/scanRegistration.cpp二、代码分析1.
LOAM 系列(1): A-LOAM 安装以及概述 一、githubGitHub - HKUST-Aerial-Robotics/A-LOAM: Advanced implementation of LOAM二、安装依赖1. ROSUbuntu 64-bit 16.04 ROS Kinetic比较常规，就不赘述了2.Ceres SolverInstallation — Ceres Solver安装版本：3. PCLsudo apt install libpcl-dev三、编译1. 下载代码至 catkin..
Lidar SLAM 资料汇总 一、LOAM 系列1. 详细解读2. 参考LOAM-SLAM原理深度解析 - 知乎 LeGO-LOAM和LOAM的区别与联系 - 知乎 GitHub - HKUST-Aerial-Robotics/A-LOAM: Advanced implementation of LOAM GitHub - cuitaixiang/LOAM_NOTED: loam code noted in Chinese（loam中文注解版）二、Cartographer1. 详细解读todo2.
Vins-Mono 论文 && Coding 一 7(3). pose_graph: 4DOF pose_graph 3. 4DOF pose_graph 详解(1). 原理<1>. sequentail edgeA keyframe establishes several sequential edges to its previous keyframes. A sequential edge represents the relative transformation between two keyframes, which is taken directly from VIO.关键帧.
Vins-Mono 论文 && Coding 一 7(2). pose_graph: 回环检测 && 重定位 (1). 回环检测loop_index = detectLoop(cur_kf, cur_kf->index);int PoseGraph::detectLoop(KeyFrame* keyframe, int frame_index){ //first query; then add this frame into database! QueryResults ret; db.query(keyframe->brief_descriptors, ret,
Vins-Mono 论文 && Coding 一 4(1). imu 预积分 六、Class APIVINS-Mono/vins_estimator/src/estimator.hVINS-Mono/vins_estimator/src/estimator.cpp1. 成员变量2. process IMU data3. process vision features4. process relocalization data
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