cartographer pose_graph.lua 参数解析

最新推荐文章于 2023-06-20 18:38:59 发布

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最新推荐文章于 2023-06-20 18:38:59 发布

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分类专栏： 2d_slam

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本文详细解析了Cartographer库中pose_graph.lua配置文件的各项参数，包括优化目标、约束添加、滑动窗口大小等，旨在帮助理解Cartographer在SLAM（Simultaneous Localization and Mapping）过程中的工作原理及参数调优。

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-- 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 obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "