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

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cartographer基于local的位姿估计

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

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PoseGraph回环检测触发逻辑

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

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reference

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