(02)Cartographer源码无死角解析-(42) 2D栅格地图→Submap、Submap2D、MapLimits - 代码天地

(02)Cartographer源码无死角解析-(42) 2D栅格地图→Submap、Submap2D、MapLimits

企业开发 2023-01-24 01:45:22 阅读次数: 0

NoSuchKey

猜你喜欢

转载自blog.csdn.net/weixin_43013761/article/details/128467793

(02)Cartographer源码无死角解析-(42) 2D栅格地图→Submap、Submap2D、MapLimits

(02)Cartographer源码无死角解析-(45) 2D栅格地图→ProbabilityGridRangeDataInserter2D

(02)Cartographer源码无死角解析-(41) 2D栅格地图→ActiveSubmaps2D

(02)Cartographer源码无死角解析-(44) 2D栅格地图→ProbabilityGrid 与 ProbabilityToLogOddsInteger()

cartographer grid_2d submap2d probality_grid 关系

(02)Cartographer源码无死角解析-(43) 2D栅格地图→ValueConversionTables、Grid2D

(02)Cartographer源码无死角解析-(46) 2D栅格地图→RayToPixelMask()与贝汉明(Bresenham)算法

(02)Cartographer源码无死角解析-(52) 2D点云扫描匹配→ceres扫描匹配:CeresScanMatcher2D→栅格地图残差

(02)Cartographer源码无死角解析-(59) 2D后端优化→ 线程池: DrainWorkQueue()、AddWorkItem()

(02)Cartographer源码无死角解析-(55) 2D后端优化→ComputeLocalToGlobalTransform()，TrajectoryNode

(02)Cartographer源码无死角解析-(60) 2D后端优化→ 线程池

(02)Cartographer源码无死角解析-(56) 2D后端优化→class MapById、ConstIterator、ConstTrajectoryIterator

(02)Cartographer源码无死角解析-(61) 2D后端优化→

(02)Cartographer源码无死角解析-(65) 2D后端优化→DispatchScanMatcherConstruction()、ComputeConstraint()

(02)Cartographer源码无死角解析-(47) 2D栅格地图→总体流程梳理与总结，及核心关键CastRays()讲解

(02)Cartographer源码无死角解析-(54) 2D后端优化→PoseGraphInterface、PoseGraph、PoseGraph2D::AddNode()

(02)Cartographer源码无死角解析-(63) 2D后端优化→PoseGraph2D::ComputeConstraint()计算约束

(02)Cartographer源码无死角解析-(64) 2D后端优化→ConstraintBuilder2D、MaybeAddConstraint、MaybeAddGlobalConstraint

(02)Cartographer源码无死角解析-(57) 2D后端优化→MapById::lower_bound()、PoseGraphData、TrajectoryConnectivityState

(02)Cartographer源码无死角解析-(62) 2D后端优化→InitializeGlobalSubmapPoses()子图全局位姿的来龙去脉

(02)Cartographer源码无死角解析-(75) 2D后端优化→整体复盘，理解后端优化核心

(02)Cartographer源码无死角解析-(66) 2D后端优化→PrecomputationGridStack2D、SlidingWindowMaximum -构建多分辨率地图

(02)Cartographer源码无死角解析-(58) 2D后端优化→ PoseGraph2D::AddNode()、PoseGraph2D::AppendNode()

(02)Cartographer源码无死角解析-(70) 2D后端优化→PoseGraph2D::RunOptimization()、OptimizationProblem2D初探，数据添加

(02)Cartographer源码无死角解析-(84) LoadState轨迹地图加载、ProtoStreamDeserializer讲解、SerializedData 分析

(02)Cartographer源码无死角解析-(86) 地图构建与更新→TSDF(TruncatedSignedDistanceFunction)、TSDValueConverter

(02)Cartographer源码无死角解析-(50) 2D点云扫描匹配→相关性暴力匹配2：RealTimeCorrelativeScanMatcher2D

(02)Cartographer源码无死角解析-(68) 2D后端优化→FastCorrelativeScanMatcher2D -分支定界算法(BranchAndBound)2

(02)Cartographer源码无死角解析-(51) 2D点云扫描匹配→ceres扫描匹配:CeresScanMatcher2D→平移旋转残差

(02)Cartographer源码无死角解析-(72) 2D后端优化→OptimizationProblem2D-约束残差、landmark残差

今日推荐

周排行

教你如何约女孩子的方式去理解（TCP三次握手与四次挥手）

android按压背景

【量化小讲堂-Python&Pandas系列10】如何判断一个策略的好坏？(附代码)

编程题：利用链表实现栈

盘点47条 Allegro 使用技巧，你都知道吗？

在VMware Workstation中安装CentOS

二叉树的实现

cmake安装jsoncpp

ReactNative开发城市列表页

最全前端学习资源

每日归档

更多

2025-03-20(0)

2025-03-19(0)

2025-03-18(0)

2025-03-17(0)

2025-03-16(0)

2025-03-15(0)

2025-03-14(0)

2025-03-13(0)

2025-03-12(0)

2025-03-11(0)