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2.4 KiB
ReStructuredText
82 lines
2.4 KiB
ReStructuredText
.. _slam:
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SLAM
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====
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Simultaneous Localization and Mapping(SLAM) examples
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.. _iterative-closest-point-(icp)-matching:
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Iterative Closest Point (ICP) Matching
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--------------------------------------
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This is a 2D ICP matching example with singular value decomposition.
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It can calculate a rotation matrix and a translation vector between
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points to points.
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Ref:
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- `Introduction to Mobile Robotics: Iterative Closest Point Algorithm`_
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.. include:: ekf_slam.rst
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.. include:: FastSLAM1.rst
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FastSLAM 2.0
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------------
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This is a feature based SLAM example using FastSLAM 2.0.
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The animation has the same meanings as one of FastSLAM 1.0.
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References
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~~~~~~~~~~
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- `PROBABILISTIC ROBOTICS`_
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- `SLAM simulations by Tim Bailey`_
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Graph based SLAM
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----------------
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This is a graph based SLAM example.
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The blue line is ground truth.
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The black line is dead reckoning.
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The red line is the estimated trajectory with Graph based SLAM.
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The black stars are landmarks for graph edge generation.
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.. include:: graphSLAM_doc.rst
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.. include:: graphSLAM_formulation.rst
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.. include:: graphSLAM_SE2_example.rst
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Ref:
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- `A Tutorial on Graph-Based SLAM`_
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.. _`Introduction to Mobile Robotics: Iterative Closest Point Algorithm`: https://cs.gmu.edu/~kosecka/cs685/cs685-icp.pdf
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.. _PROBABILISTIC ROBOTICS: http://www.probabilistic-robotics.org/
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.. _SLAM simulations by Tim Bailey: http://www-personal.acfr.usyd.edu.au/tbailey/software/slam_simulations.htm
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.. _A Tutorial on Graph-Based SLAM: http://www2.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10titsmag.pdf
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.. _FastSLAM Lecture: http://ais.informatik.uni-freiburg.de/teaching/ws12/mapping/pdf/slam10-fastslam.pdf
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.. [blanco2010tutorial] Blanco, J.-L.A tutorial onSE(3) transformation parameterization and on-manifold optimization.University of Malaga, Tech. Rep 3(2010)
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.. [grisetti2010tutorial] Grisetti, G., Kummerle, R., Stachniss, C., and Burgard, W.A tutorial on graph-based SLAM.IEEE Intelligent Transportation Systems Magazine 2, 4 (2010), 31–43.
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.. |3| image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/iterative_closest_point/animation.gif
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.. |5| image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/FastSLAM1/animation.gif
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.. |6| image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/FastSLAM2/animation.gif
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.. |7| image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/GraphBasedSLAM/animation.gif
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