liuzhenboo / 2d Slam By Nonlinear Optimization
Licence: gpl-3.0
基于非线性优化的2Dslam仿真,实践前端数据关联,滑动窗口法,LM优化,FEJ。
Stars: ✭ 41
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2D-SLAM-By-Nonlinear-Optimization
Features
非线性优化,LM迭代优化,滑动窗口,边缘化,FEJ
Report
技术文档: Reports
Reasults
只使用前端
注释掉slidewindow_graph.py中函数def Update(self, measure):里的:
self.Optimize_graph()
滑动窗口优化(1)
滑窗之外的观测直接舍去,不使用先验信息。 注释掉注释掉slidewindow_graph.py中函数def Optimize_graph(self):里的:
self.Get_prior()
滑动窗口优化(2)
滑窗之外的观测信息不直接舍去,利用舒尔补转换成约束矩阵,形成先验信息,在优化中使用。这里使用的边缘化方案,可以保证FEJ。
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