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

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

企业开发 2023-01-24 01:45:40 阅读次数: 0

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转载自blog.csdn.net/weixin_43013761/article/details/128434845

(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-(45) 2D栅格地图→ProbabilityGridRangeDataInserter2D

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

(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-(42) 2D栅格地图→Submap、Submap2D、MapLimits

(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-(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-(56) 2D后端优化→class MapById、ConstIterator、ConstTrajectoryIterator

(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-(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-(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-(54) 2D后端优化→PoseGraphInterface、PoseGraph、PoseGraph2D::AddNode()

(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-(63) 2D后端优化→PoseGraph2D::ComputeConstraint()计算约束

(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-(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-(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-(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-(74) 2D后端优化→OptimizationProblem2D-里程计、local位姿、GPU残差

(02)Cartographer源码无死角解析-(73) 2D后端优化→OptimizationProblem2D-landmark残差细节分析

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

(02)Cartographer源码无死角解析-(71) 2D后端优化→OptimizationProblem2D::Solve() - 优化准备工作，参数块

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