{"id":8569,"date":"2024-06-19T12:39:32","date_gmt":"2024-06-19T04:39:32","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=8569"},"modified":"2024-10-22T13:43:13","modified_gmt":"2024-10-22T05:43:13","slug":"%e6%9c%ba%e5%99%a8%e4%ba%ba%e6%93%8d%e4%bd%9c%e7%b3%bb%e7%bb%9fros-%e5%b8%b8%e8%a7%81%e5%bb%ba%e5%9b%be%e7%ae%97%e6%b3%95%e5%af%b9%e6%af%94gmapping-hector-karto-cartographer","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=8569","title":{"rendered":"ROS\u2014\u5e38\u89c12D\u5efa\u56fe\u7b97\u6cd5\u5bf9\u6bd4"},"content":{"rendered":"

\u672c\u6587\u4e3b\u8981\u9488\u5bf9\u5e38\u89c1\u76842D\u5efa\u56fe\u7b97\u6cd5Gmapping\u3001Hector\u3001Karto\u3001Cartographer\u8fdb\u884c\u5bf9\u6bd4\uff0c\u4ee5\u786e\u5b9a\u5728\u5ba4\u5185\u5c0f\u573a\u666f\u3001\u5ba4\u5916\u5927\u573a\u666f\u4e0b\u4f7f\u7528\u54ea\u79cd\u5efa\u56fe\u7b97\u6cd5\u66f4\u4e3a\u5408\u9002\u3002<\/p>\n

1.Gmapping<\/h2>\n

1.1 \u7b97\u6cd5\u6982\u8ff0<\/h3>\n

Gmapping\u662f\u5e94\u7528\u6700\u4e3a\u5e7f\u6cdb\u76842D\u00a0slam\u65b9\u6cd5\uff0c\u4e3b\u8981\u662f\u5229\u7528RBPF\uff08Rao-Blackwellized Particle Filters\uff09\u65b9\u6cd5\uff0c\u6240\u4ee5\u9700\u8981\u4e86\u89e3\u7c92\u5b50\u6ee4\u6ce2\u7684\u65b9\u6cd5\uff08\u5229\u7528\u7edf\u8ba1\u7279\u6027\u63cf\u8ff0\u7269\u7406\u8868\u8fbe\u5f0f\u4e0b\u7684\u7ed3\u679c\uff09\u3002Gmapping\u5728RBPF\u7b97\u6cd5\u4e0a\u505a\u4e86\u4e24\u4e2a\u4e3b\u8981\u7684\u6539\u8fdb\uff1a\u6539\u8fdb\u63d0\u8bae\u5206\u5e03<\/strong>\u548c\u9009\u62e9\u6027\u91cd\u91c7\u6837<\/strong>\u3002<\/p>\n

1.2 \u7b97\u6cd5\u6d41\u7a0b\u56fe<\/h3>\n

\"\"<\/a><\/p>\n

1.3 \u7b97\u6cd5\u4f18\u7f3a\u70b9<\/h3>\n

\u968f\u7740\u573a\u666f\u589e\u5927\u6240\u9700\u7684\u7c92\u5b50\u589e\u52a0\uff0c\u56e0\u4e3a\u6bcf\u4e2a\u7c92\u5b50\u90fd\u643a\u5e26\u4e00\u5e45\u5730\u56fe\uff0c\u56e0\u6b64\u5728\u6784\u5efa\u5927\u5730\u56fe\u65f6\u6240\u9700\u5185\u5b58\u548c\u8ba1\u7b97\u91cf\u90fd\u4f1a\u589e\u52a0\u3002\u56e0\u6b64\u4e0d\u9002\u5408\u6784\u5efa\u5927\u573a\u666f\u5730\u56fe\u3002\u5e76\u4e14\u6ca1\u6709\u56de\u73af\u68c0\u6d4b\uff0c\u56e0\u6b64\u5728\u56de\u73af\u95ed\u5408\u65f6\u53ef\u80fd\u4f1a\u9020\u6210\u5730\u56fe\u9519\u4f4d\uff0c\u867d\u7136\u589e\u52a0\u7c92\u5b50\u6570\u76ee\u53ef\u4ee5\u4f7f\u5730\u56fe\u95ed\u5408\u4f46\u662f\u4ee5\u589e\u52a0\u8ba1\u7b97\u91cf\u548c\u5185\u5b58\u4e3a\u4ee3\u4ef7\u3002Gmapping\u53ef\u4ee5\u5b9e\u65f6\u6784\u5efa\u5ba4\u5185\u5730\u56fe\uff0c\u5728\u6784\u5efa\u5c0f\u573a\u666f\u5730\u56fe\u6240\u9700\u7684\u8ba1\u7b97\u91cf\u8f83\u5c0f\u4e14\u7cbe\u5ea6\u8f83\u9ad8\u3002<\/p>\n

1.4 \u5efa\u56fe\u6548\u679c<\/h3>\n

\"\"<\/a><\/p>\n

1.5 \u7efc\u5408\u8bc4\u4ef7<\/h3>\n

\u5efa\u56fe\u6548\u679c\u8f83\u4e3a\u826f\u597d\u3002\u76f8\u6bd4Hector SLAM\u5bf9\u6fc0\u5149\u96f7\u8fbe\u9891\u7387\u8981\u6c42\u4f4e\u3001\u9c81\u68d2\u6027\u9ad8\uff08Hector \u5728\u673a\u5668\u4eba\u5feb\u901f\u8f6c\u5411\u65f6\u5f88\u5bb9\u6613\u53d1\u751f\u9519\u8bef\u5339\u914d\uff0c\u5efa\u51fa\u7684\u5730\u56fe\u53d1\u751f\u9519\u4f4d\uff0c\u539f\u56e0\u4e3b\u8981\u662f\u4f18\u5316\u7b97\u6cd5\u5bb9\u6613\u9677\u5165\u5c40\u90e8\u6700\u5c0f\u503c<\/strong>\uff09\uff1b\u800c\u76f8\u6bd4Cartographer\u5728\u6784\u5efa\u5c0f\u573a\u666f\u5730\u56fe\u65f6\uff0cGmapping\u4e0d\u9700\u8981\u592a\u591a\u7684\u7c92\u5b50\u5e76\u4e14\u6ca1\u6709\u56de\u73af\u68c0\u6d4b\u56e0\u6b64\u8ba1\u7b97\u91cf\u5c0f\u4e8eCartographer\u800c\u7cbe\u5ea6\u5e76\u6ca1\u6709\u5dee\u592a\u591a\u3002\u6240\u4ee5Gmapping\u4e0d\u80fd\u50cfcartographer\u90a3\u6837\u6784\u5efa\u5927\u7684\u5730\u56fe\uff0c\u867d\u7136\u8bba\u6587\u751f\u6210\u51e0\u4e07\u5e73\u7c73\u7684\u5730\u56fe\uff0c\u4f46\u5b9e\u9645\u6211\u4eec\u4f7f\u7528\u4e2d\u5efa\u7684\u5730\u56fe\u6ca1\u6709\u4e0a\u4e07\u5e73\u7c73\u65f6\u5c31\u4f1a\u53d1\u751f\u9519\u8bef\u3002<\/p>\n

2.Hector<\/h2>\n

2.1 \u7b97\u6cd5\u6982\u8ff0<\/h3>\n

Hector slam \u5229\u7528\u9ad8\u65af\u725b\u987f\u65b9\u6cd5\u89e3\u51b3 scan-matching \u95ee\u9898\uff0c\u5bf9\u4f20\u611f\u5668\u8981\u6c42\u8f83\u9ad8\u3002\u5176\u65e0\u9700\u4f7f\u7528\u91cc\u7a0b\u8ba1\uff0c\u6240\u4ee5\u5728\u4e0d\u5e73\u5766\u533a\u57df\u5b9e\u73b0\u5efa\u56fe\u7684\u7a7a\u4e2d\u65e0\u4eba\u673a\u53ca\u5730\u9762\u5c0f\u8f66\u5177\u6709\u8fd0\u7528\u7684\u53ef\u884c\u6027\uff0c\u5229\u7528\u5df2\u7ecf\u83b7\u5f97\u7684\u5730\u56fe\u5bf9\u6fc0\u5149\u675f\u70b9\u9635\u8fdb\u884c\u4f18\u5316\uff0c\u4f30\u8ba1\u6fc0\u5149\u70b9\u5728\u5730\u56fe\u7684\u8868\u793a\uff0c\u548c\u5360\u636e\u7f51\u7edc\u7684\u6982\u7387\u3002\u83b7\u5f97\u6fc0\u5149\u70b9\u96c6\u6620\u5c04\u5230\u5df2\u6709\u5730\u56fe\u7684\u521a\u4f53\u53d8\u6362\uff0c\u4e3a\u907f\u514d\u5c40\u90e8\u6700\u5c0f\u800c\u975e\u5168\u5c40\u6700\u4f18\u51fa\u73b0\uff0c\u5730\u56fe\u4f7f\u7528\u591a\u5206\u8fa8\u7387\u3002<\/p>\n

\u9700\u5177\u5907\u9ad8\u66f4\u65b0\u9891\u7387\u4e14\u6d4b\u91cf\u566a\u97f3\u5c0f\u7684\u6fc0\u5149\u626b\u63cf\u4eea\uff0c\u6240\u4ee5\uff0c\u5728\u5236\u56fe\u8fc7\u7a0b\u4e2d\uff0crobot\u7684\u901f\u5ea6\u8981\u63a7\u5236\u5728\u8f83\u4f4e\u7684\u60c5\u51b5\u4e0b<\/strong>\u624d\u4f1a\u6709\u6bd4\u8f83\u7406\u60f3\u7684\u5efa\u56fe\u6548\u679c\uff0c\u8fd9\u4e5f\u662f\u5b83\u6ca1\u6709\u56de\u73af\u7684\u4e00\u4e2a\u540e\u9057\u75c7\u3002\u53e6\u5916\u5728\u91cc\u7a0b\u8ba1\u6570\u636e\u6bd4\u8f83\u7cbe\u786e\u7684\u60c5\u51b5\u4e0b\u65e0\u6cd5\u6709\u6548\u5229\u7528\u91cc\u7a0b\u8ba1\u4fe1\u606f\u3002<\/p>\n

2.2 \u7b97\u6cd5\u6d41\u7a0b\u56fe<\/h3>\n

\"\"<\/a><\/p>\n

2.3 \u7b97\u6cd5\u4f18\u7f3a\u70b9<\/h3>\n

\u4f18\u70b9\uff1a\u4e0d\u9700\u8981\u4f7f\u7528\u91cc\u7a0b\u8ba1\uff0c\u6240\u4ee5\u4f7f\u5f97\u7a7a\u4e2d\u65e0\u4eba\u673a\u53ca\u5730\u9762\u5c0f\u8f66\u5728\u4e0d\u5e73\u5766\u533a\u57df\u5efa\u56fe\u5b58\u5728\u8fd0\u7528\u7684\u53ef\u884c\u6027\uff1b\u5229\u7528\u5df2\u7ecf\u83b7\u5f97\u7684\u5730\u56fe\u5bf9\u6fc0\u5149\u675f\u70b9\u9635\u8fdb\u884c\u4f18\u5316, \u4f30\u8ba1\u6fc0\u5149\u70b9\u5728\u5730\u56fe\u7684\u8868\u793a,\u548c\u5360\u636e\u7f51\u683c\u7684\u6982\u7387\uff1b\u5229\u7528\u9ad8\u65af\u725b\u987f\u65b9\u6cd5\u89e3\u51b3scan-matching \u95ee\u9898\uff0c\u83b7\u5f97\u6fc0\u5149\u70b9\u96c6\u6620\u5c04\u5230\u5df2\u6709\u5730\u56fe\u7684\u521a\u4f53\u53d8\u6362\uff1b\u4e3a\u907f\u514d\u5c40\u90e8\u6700\u5c0f\u800c\u975e\u5168\u5c40\u6700\u4f18\uff0c\u4f7f\u7528\u591a\u5206\u8fa8\u7387\u5730\u56fe\uff1b\u5bfc\u822a\u4e2d\u7684\u72b6\u6001\u4f30\u8ba1\u52a0\u5165\u60ef\u6027\u6d4b\u91cf\u7cfb\u7edf\uff08IMU\uff09\uff0c\u5229\u7528EKF\u6ee4\u6ce2\uff1b<\/p>\n

\u7f3a\u70b9\uff1a\u9700\u8981\u96f7\u8fbe\uff08LRS\uff09\u7684\u66f4\u65b0\u9891\u7387\u8f83\u9ad8\uff0c\u6d4b\u91cf\u566a\u58f0\u5c0f\u3002\u6240\u4ee5\u5728\u5236\u56fe\u8fc7\u7a0b\u4e2d\uff0c\u9700\u8981\u673a\u5668\u4eba\u901f\u5ea6\u63a7\u5236\u5728\u6bd4\u8f83\u4f4e\u7684\u60c5\u51b5\u4e0b<\/strong>\uff0c\u5efa\u56fe\u6548\u679c\u624d\u4f1a\u6bd4\u8f83\u7406\u60f3\uff0c\u8fd9\u4e5f\u662f\u5b83\u6ca1\u6709\u56de\u73af\uff08loop close\uff09\u7684\u4e00\u4e2a\u540e\u9057\u75c7\uff1b\u4e14\u5728\u91cc\u7a0b\u8ba1\u6570\u636e\u6bd4\u8f83\u7cbe\u786e\u7684\u65f6\u5019\uff0c\u65e0\u6cd5\u6709\u6548\u5229\u7528\u91cc\u7a0b\u8ba1\u4fe1\u606f\u3002<\/p>\n

2.4 \u5efa\u56fe\u6548\u679c<\/h3>\n

\"\"<\/a><\/p>\n

2.5 \u7efc\u5408\u8bc4\u4ef7<\/h3>\n

\u5efa\u56fe\u6548\u679c\u4e00\u822c\u3002\u5fc5\u987b\u8981\u673a\u5668\u4eba\u901f\u5ea6\u63a7\u5236\u5728\u6bd4\u8f83\u4f4e\u7684\u60c5\u51b5\u4e0b\u5efa\u56fe\u6548\u679c\u624d\u80fd\u597d\u4e00\u70b9\u513f\uff0c\u4ee5\u4e0a\u5efa\u56fe\u7531\u4e8e\u901f\u5ea6\u8fc7\u5feb\u5bfc\u81f4\u5730\u56fe\u53d1\u751f\u504f\u79fb\u3002\u5728\u5927\u5730\u56fe\uff0c\u4f4e\u7279\u5f81\uff08distinctive landmarks\uff09\u573a\u666f\u4e2d\uff0chector\u7684\u5efa\u56fe\u8bef\u5dee\u9ad8\u4e8egmapping\u3002\u8fd9\u662f\u7531\u4e8ehector\u8fc7\u5206\u4f9d\u8d56scan-match\u3002\u7279\u522b\u662f\u5728\u957f\u5eca\u95ee\u9898\u4e2d\uff0c\u8bef\u5dee\u66f4\u52a0\u660e\u663e\u3002hector_slam\u901a\u8fc7\u6700\u5c0f\u4e8c\u4e58\u6cd5\u5339\u914d\u626b\u63cf\u70b9\uff0c\u4e14\u4f9d\u8d56\u9ad8\u7cbe\u5ea6\u7684\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\uff0c\u56e0\u6b64\u626b\u63cf\u89d2\u5f88\u5c0f\u4e14\u566a\u58f0\u8f83\u5927\u7684Kinect\u662f\u4e0d\u884c\u7684\uff0c\u5339\u914d\u65f6\u4f1a\u9677\u5165\u5c40\u90e8\u70b9\uff0c\u5730\u56fe\u6bd4\u8f83\u6df7\u4e71\u3002<\/p>\n

3.Karto<\/h2>\n

3.1 \u7b97\u6cd5\u6982\u8ff0<\/h3>\n

KartoSLAM\u662f\u57fa\u4e8e\u56fe\u4f18\u5316<\/strong>\u7684\u65b9\u6cd5\uff0c\u7528\u9ad8\u5ea6\u4f18\u5316\u548c\u975e\u8fed\u4ee3 cholesky\u77e9\u9635\u8fdb\u884c\u7a00\u758f\u7cfb\u7edf\u89e3\u8026\u4f5c\u4e3a\u89e3\uff0c\u56fe\u4f18\u5316\u65b9\u6cd5\u5229\u7528\u56fe\u7684\u5747\u503c\u8868\u793a\u5730\u56fe\uff0c\u6bcf\u4e2a\u8282\u70b9\u8868\u793a\u673a\u5668\u4eba\u8f68\u8ff9\u7684\u4e00\u4e2a\u4f4d\u7f6e\u70b9\u548c\u4f20\u611f\u5668\u6d4b\u91cf\u6570\u636e\u96c6\uff0c\u7bad\u5934\u7684\u6307\u5411\u7684\u8fde\u63a5\u8868\u793a\u8fde\u7eed\u673a\u5668\u4eba\u4f4d\u7f6e\u70b9\u7684\u8fd0\u52a8\uff0c\u6bcf\u4e2a\u65b0\u8282\u70b9\u52a0\u5165\uff0c\u5730\u56fe\u5c31\u4f1a\u4f9d\u636e\u7a7a\u95f4\u4e2d\u7684\u8282\u70b9\u7bad\u5934\u7684\u7ea6\u675f\u8fdb\u884c\u8ba1\u7b97\u66f4\u65b0\u3002<\/p>\n

3.2 \u7b97\u6cd5\u6d41\u7a0b\u56fe<\/h3>\n

\"\"<\/a><\/p>\n

3.3 \u7b97\u6cd5\u4f18\u7f3a\u70b9<\/h3>\n

ROS\u7248\u672c\u7684KartoSLAM\uff0c\u5176\u4e2d\u91c7\u7528\u7684\u7a00\u758f\u70b9\u8c03\u6574\uff08the Spare Pose Adjustment(SPA)\uff09\u4e0e\u626b\u63cf\u5339\u914d\u548c\u95ed\u73af\u68c0\u6d4b\u76f8\u5173\u3002landmark\u8d8a\u591a\uff0c\u5185\u5b58\u9700\u6c42\u8d8a\u5927\uff0c\u7136\u800c\u56fe\u4f18\u5316\u65b9\u5f0f\u76f8\u6bd4\u5176\u4ed6\u65b9\u6cd5\u5728\u5927\u73af\u5883\u4e0b\u5236\u56fe\u4f18\u52bf\u66f4\u5927\uff0c\u5728\u67d0\u4e9b\u60c5\u51b5\u4e0bKartoSLAM\u66f4\u6709\u6548\uff0c\u56e0\u4e3a\u4ed6\u4ec5\u5305\u542b\u70b9\u7684\u56fe(robot pose)\uff0c\u6c42\u5f97\u4f4d\u7f6e\u540e\u518d\u6c42map\u3002Karto\u6700\u91cd\u8981\u7684\u70b9\u5c31\u662f\u5f15\u5165\u4e86\u540e\u7aef\u4f18\u5316\u4e0e\u56de\u73af\u68c0\u6d4b<\/strong>\u3002\u5728Karto\u4e4b\u524d\u8bde\u751f\u7684\u6fc0\u5149SLAM\u5982GMapping\uff0cHector\uff0c\u90fd\u662f\u6ca1\u6709\u540e\u7aef\u4f18\u5316\u4e0e\u56de\u73af\u68c0\u6d4b\u7684\u3002<\/p>\n

3.4 \u5efa\u56fe\u6548\u679c<\/h3>\n

\"\"<\/a><\/p>\n

3.5 \u7efc\u5408\u8bc4\u4ef7<\/h3>\n

\u5efa\u56fe\u6548\u679c\u8f83\u4e3a\u826f\u597d\u3002Karto\u7684\u51fa\u73b0\u5728\u6fc0\u5149SLAM\u7684\u5386\u53f2\u4e0a\u662f\u4e2a\u91cc\u7a0b\u7891\u7684\u4e8b\u4ef6\u3002\u5728Karto\u4e4b\u524d\u7684\u6fc0\u5149SLAM\u4e2d\uff0c\u5982GMapping\uff0cHector \u90fd\u53ea\u6709\u524d\u7aef\u90e8\u5206\uff0c\u4e5f\u5c31\u662f\u4f7f\u7528\u96f7\u8fbe\u6570\u636e\u8fdb\u884c\u626b\u63cf\u5339\u914d\u4ee5\u53ca\u5efa\u56fe2\u4e2a\u529f\u80fd\u3002Karto\u5c06\u540e\u7aef\u4f18\u5316\u4e0e\u56de\u73af\u68c0\u6d4b\u5f15\u5165\u5230\u6fc0\u5149SLAM\u4e2d\uff0c\u901a\u8fc7\u4f4d\u59ff\u56fe\u7ed3\u6784\u7684\u4f18\u5316\uff0c\u6765\u51cf\u5c0f\u7d2f\u8ba1\u8bef\u5dee\u3002<\/p>\n

4.Cartographer<\/h2>\n

4.1 \u7b97\u6cd5\u6982\u8ff0<\/h3>\n

Cartographer\u662f\u57fa\u4e8e\u56fe\u4f18\u5316\u7684\u65b9\u6cd5\u5efa\u56fe\u7b97\u6cd5\uff0c\u5176\u4e3b\u8981\u901a\u8fc7\u95ed\u73af\u68c0\u6d4b\u6765\u6d88\u9664\u6784\u56fe\u8fc7\u7a0b\u4e2d\u4ea7\u751f\u7684\u7d2f\u79ef\u8bef\u5dee\u3002\u7528\u4e8e\u95ed\u73af\u68c0\u6d4b\u7684\u57fa\u672c\u5355\u5143\u662fsubmap\u3002\u4e00\u4e2asubmap\u662f\u7531\u4e00\u5b9a\u6570\u91cf\u7684laser scan\u6784\u6210\u3002\u5c06\u4e00\u4e2alaser scan\u63d2\u5165\u5176\u5bf9\u5e94\u7684submap\u65f6\uff0c\u4f1a\u57fa\u4e8esubmap\u5df2\u6709\u7684laser scan\u53ca\u5176\u5b83\u4f20\u611f\u5668\u6570\u636e\u4f30\u8ba1\u5176\u5728\u8be5submap\u4e2d\u7684\u6700\u4f73\u4f4d\u7f6e\u3002submap\u7684\u521b\u5efa\u5728\u77ed\u65f6\u95f4\u5185\u7684\u8bef\u5dee\u7d2f\u79ef\u88ab\u8ba4\u4e3a\u662f\u8db3\u591f\u5c0f\u7684\u3002\u7136\u800c\u968f\u7740\u65f6\u95f4\u63a8\u79fb\uff0c\u8d8a\u6765\u8d8a\u591a\u7684submap\u88ab\u521b\u5efa\u540e\uff0csubmap\u95f4\u7684\u8bef\u5dee\u7d2f\u79ef\u5219\u4f1a\u8d8a\u6765\u8d8a\u5927\u3002\u56e0\u6b64\u9700\u8981\u901a\u8fc7\u95ed\u73af\u68c0\u6d4b\u9002\u5f53\u7684\u4f18\u5316\u8fd9\u4e9bsubmap\u7684\u4f4d\u59ff\u8fdb\u800c\u6d88\u9664\u8fd9\u4e9b\u7d2f\u79ef\u8bef\u5dee\uff0c\u8fd9\u5c31\u5c06\u95ee\u9898\u8f6c\u5316\u6210\u4e00\u4e2a\u4f4d\u59ff\u4f18\u5316\u95ee\u9898\u3002\u5f53\u4e00\u4e2asubmap\u7684\u6784\u5efa\u5b8c\u6210\u65f6\uff0c\u4e5f\u5c31\u662f\u4e0d\u4f1a\u518d\u6709\u65b0\u7684laser scan\u63d2\u5165\u5230\u8be5submap\u65f6\uff0c\u8be5submap\u5c31\u4f1a\u52a0\u5165\u5230\u95ed\u73af\u68c0\u6d4b\u4e2d\u3002\u95ed\u73af\u68c0\u6d4b\u4f1a\u8003\u8651\u6240\u6709\u7684\u5df2\u5b8c\u6210\u521b\u5efa\u7684submap\u3002\u5f53\u4e00\u4e2a\u65b0\u7684laser scan\u52a0\u5165\u5230\u5730\u56fe\u4e2d\u65f6\uff0c\u5982\u679c\u8be5laser scan\u7684\u4f30\u8ba1\u4f4d\u59ff\u4e0e\u5730\u56fe\u4e2d\u67d0\u4e2asubmap\u7684\u67d0\u4e2alaser scan\u7684\u4f4d\u59ff\u6bd4\u8f83\u63a5\u8fd1\u7684\u8bdd\uff0c\u90a3\u4e48\u901a\u8fc7\u67d0\u79cd scan match\u7b56\u7565\u5c31\u4f1a\u627e\u5230\u8be5\u95ed\u73af\u3002Cartographer\u4e2d\u7684scan match\u7b56\u7565\u901a\u8fc7\u5728\u65b0\u52a0\u5165\u5730\u56fe\u7684laser scan\u7684\u4f30\u8ba1\u4f4d\u59ff\u9644\u8fd1\u53d6\u4e00\u4e2a\u7a97\u53e3\uff0c\u8fdb\u800c\u5728\u8be5\u7a97\u53e3\u5185\u5bfb\u627e\u8be5laser scan\u7684\u4e00\u4e2a\u53ef\u80fd\u7684\u5339\u914d\uff0c\u5982\u679c\u627e\u5230\u4e86\u4e00\u4e2a\u8db3\u591f\u597d\u7684\u5339\u914d\uff0c\u5219\u4f1a\u5c06\u8be5\u5339\u914d\u7684\u95ed\u73af\u7ea6\u675f\u52a0\u5165\u5230\u4f4d\u59ff\u4f18\u5316\u95ee\u9898\u4e2d\u3002Cartographer\u7684\u91cd\u70b9\u5185\u5bb9\u5c31\u662f\u878d\u5408\u591a\u4f20\u611f\u5668\u6570\u636e\u7684\u5c40\u90e8submap\u521b\u5efa\u4ee5\u53ca\u7528\u4e8e\u95ed\u73af\u68c0\u6d4b\u7684scan match\u7b56\u7565\u7684\u5b9e\u73b0\u3002<\/p>\n

Cartographer\u6574\u4f53\u53ef\u4ee5\u5206\u4e3a\u4e24\u4e2a\u90e8\u5206\uff1aLocal SLAM<\/strong>\u548cGlobal SLAM<\/strong>\u3002<\/p>\n

Local SLAM<\/strong><\/p>\n