激光SLAM

01.激光SLAM初学者代码及论文推荐

2D激光SLAM

Gmapping
简介：基于粒子滤波框架的激光SLAM，结合里程计和激光信息，每个粒子都携带一个地图，构建小场景地图所需的计算量较小，精度较高。可以结合《概率机器人》一起学习。
Git链接：
https://github.com/ros-perception/openslam_gmapping
https://github.com/ros-perception/slam_gmapping
相关论文：
Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard: Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters, IEEE Transactions on Robotics, Volume 23, pages 34-46, 2007.
Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard: Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling, In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2005.

Hector_slam
简介：利用优化方法进行帧间匹配的激光slam算法，不需要里程计信息，代码较短。缺点是在雷达频率不够的设备上