SLAMforDummies

SLAMforDummies
SLAM新手入门史上最详细介绍。
SLAMforDummies-ATutorialApproachtoSimultaneousLocalizationandMappingBythe‘dummies’SørenRiisgaardofcontents1.TABLEOFCONTENTS.........................................................................................................22.INTRODUCTION...................................................................................................................43.ABOUTSLAM........................................................................................................................64.THEHARDWARE..................................................................................................................7THEROBOT....................................................................................................................................7THERANGEMEASUREMENTDEVICE.................................................................................................85.THESLAMPROCESS.........................................................................................................106.LASERDATA.......................................................................................................................147.ODOMETRYDATA.............................................................................................................158.LANDMARKS......................................................................................................................169.LANDMARKEXTRACTION..............................................................................................19SPIKELANDMARKS.......................................................................................................................19RANSAC....................................................................................................................................20MULTIPLESTRATEGIES..................................................................................................................2410.D