cartographer程序逻辑

cartographer是Google开源的SLAM解决方案，这几天读了Cartographer的代码，基本略过了算法逻辑部分（接下来详看），把程序的逻辑基本理清了，画了几张图，记录如下

cartographer_ros和cartographer

cartographer用项目cartogphaer_ros适配了ros，而核心仍然保留在cartogapher项目中

https://www.processon.com/view/link/5c85fd6ee4b0c996d35df5a7

cartographer基于local的位姿估计

https://www.processon.com/view/link/5c874ce4e4b0c996d35f7272

PoseGraph回环检测触发逻辑

https://www.processon.com/view/link/5c877892e4b09a16b99f33fb

reference

• https://github.com/googlecartographer
• https://google-cartographer.readthedocs.io/en/latest/
• https://zhuanlan.zhihu.com/c_1040559544505704448

联系我: