Real-Time Loop Closure in 2D LIDAR SLAM

                                         3      系统总结

     谷歌制图者（Google cartographer） 通过背部背包上的传感器制作室内2D地图可以达到实时，同时精确度可以达到5cm。

     激光扫描图可以被插入最佳评估位置，而该位置在局部短时间上是精确的。扫描匹配是针对最近已经生成的子图，所以当前子图的匹配只与刚生成的子图有关，并且其位置误差会发生累积。

     为了满足一般硬件要求，Google cartographer 没有使用粒子滤波器。针对累积位置误差，需要进行位置优化。当扫描插入过程完成后，需要进行闭环匹配，如果系统对位置估计准确，针对特定位置的生成图，与扫描图应该是一致的。（When a submap is finished, that is no new scans will be inserted into it anymore, it takes part in scan matching for loop closure. All finished submaps and scans are automatically considered for loop closure. If they are close enough based on current pose estimates, a scan matcher tries to find the scan in the submap. If a sufficiently good match is found in a search window around the currently estimated pose, it is added as a loop closing constraint to the optimization problem. By completing the optimization every few seconds, the experience of an operator is that loops are closed immediately when a location is revisited. This leads to the soft real-time constraint that the loop closure scan matching has to happen quicker than new scans are added, otherwise it falls behind noticeably. We achieve this by using a branch-and-bound approach and several precomputed grids per finished submap）

                                       4    局部2D  SLAM

     在局部匹配中，每一个连续的扫描块就是世界中的一小块，使用非线性方式将扫描图与子地图进行匹配。这个过程被称为扫描匹配。而最后扫描误差可以通过全局考虑来消除。

     子图的创建时通过连续的扫描来完成的。而子图就是概率网格的方式表示的。这些值可以被认为是网格点被阻挡的概率。 对于每个网格点，我们定义相应的像素，以包括最接近该网格点的所有点

    （ Whenever a scan is to be inserted into the probability grid, a set of grid points for hits and a disjoint set for misses are computed. For every hit, we insert the closest grid point into the hit set. For every miss, we insert the grid point associated with each pixel that intersects one of the rays between the scan origin and each scan point, excluding grid points which are already in the hit set. Every formerly unobserved grid point is assigned a probability p hit or p miss  if it is in one of these sets. If the grid point x has already been observed, we update the odds for hits and misses as）

                                                            

  

          每当将扫描插入到概率网格中时，计算用于命中的一组网格点和用于未命中的不相交集合。 对于每个命中，我们将最接近的网格点插入命中集。 对于每个未命中，我们插入与扫描原点和每个扫描点之间的光线相交的每个像素相关联的网格点，不包括已经在命中集中的网格点。 每个先前不可观测的网格点被分配概率p hit或p miss，如果它在这些集合之一中。 如果已经观察到网格点x，则我们将命中和未命中的概率更新为