Ricardo B. Sousa PhD Thesis: SLAM 2D - Traditional Pose Graph Optimization (Very Raw Version 0.0) скачать в хорошем качестве

Ricardo B. Sousa PhD Thesis: SLAM 2D - Traditional Pose Graph Optimization (Very Raw Version 0.0)

This video represents a 2D Simultaneous Localization and Mapping (SLAM) framework with 2D laser scanner and wheeled odometry data. The framework uses as a front-end a 2D Laser Odometry-Only Tracker (   • Ricardo B. Sousa PhD Thesis: 2D Laser...  ) to generate the keyframes and relative odometry estimation between poses. Then, the SRRG2_SOLVER ( https://gitlab.com/srrg-software/srrg... ) is used as the backend to optimize the graph in a traditional pose graph optimization (factors are the relative odometry estimations and the poses in the graph are the optimization variables). Left window: keyframe change and scan matching of the laser odometry tracker. Right window: SLAM 2D Pose Graph evolution. PhD Candidate Ricardo B. Sousa (0000-0003-4537-5095) ( https://sousarbarb.github.io/ ) Supervisor at Sapienza: Prof. Dr. Giorgio Grisetti (0000-0002-8038-9989), Sapienza Università di Roma Supervisors at FEUP / INESC TEC: Prof. Dr. António Paulo Moreira (0000-0001-8573-3147), FEUP & INESC TEC Senior Researcher Héber M. Sobreira, PhD (0000-0002-8055-1093), INESC TEC Prof. Dr. Manuel F. Silva (0000-0002-0593-2865), ISEP & INESC TEC Hosting Faculty: Faculty of Engineering of the University of Porto (FEUP) ( https://sigarra.up.pt/feup/en/ ) Hosting Institution: CRIIS - Centre for Robotics in Industry and Intelligent Systems ( https://www.inesctec.pt/en/centres/criis ) from INESC TEC - Institute for Systems and Computer Engineering, Technology and Science ( https://www.inesctec.pt/en )