SLAM for Dummies

SLAM新手入门史上最详细介绍。 SLAM for Dummies- A Tutorial Approach to Simultaneous Localization and Mapping By the ‘dummies’ Søren Riisgaard of contents 1. TABLE OF CONTENTS.........................................................................................................2 2. INTRODUCTION ...................................................................................................................4 3. ABOUT SLAM........................................................................................................................6 4. THE HARDWARE..................................................................................................................7 THE ROBOT....................................................................................................................................7 THE RANGE MEASUREMENT DEVICE.................................................................................................8 5. THE SLAM PROCESS .........................................................................................................10 6. LASER DATA.......................................................................................................................14 7. ODOMETRY DATA.............................................................................................................15 8. LANDMARKS......................................................................................................................16 9. LANDMARK EXTRACTION..............................................................................................19 SPIKE LANDMARKS .......................................................................................................................19 RANSAC....................................................................................................................................20 MULTIPLE STRATEGIES..................................................................................................................24 10. D