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详细说明： 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. DATA ASSOCIATION.....................................................................................................25 11. THE EKF ..........................................................................................................................28 OVERVIEW OF THE PROCESS ..........................................................................................................28 THE MATRICES.............................................................................................................................29 The system state: X..................................................................................................................29 The covariance matrix: P.........................................................................................................30 The Kalman gain: K.................................................................................................................31 The Jacobian of the measurement model: H.............................................................................31 The Jacobian of the prediction model: A ..................................................................................33 The SLAM specific Jacobians: Jxr and Jz ..................................................................................34 The process noise: Q and W.....................................................................................................35 The measurement noise: R and V .............................................................................................35 STEP 1:UPDATE CURRENT STATE USING THE ODOMETRY DATA.......................................................36 STEP 2:UPDATE STATE FROM RE-OBSERVED LANDMARKS ..............................................................37 STEP 3:ADD NEW LANDMARKS TO THE CURRENT STATE.................................................................39 12. FINAL REMARKS...........................................................................................................41 3 13. REFERENCES: ................................................................................................................42 14. APPENDIX A: COORDINATE CONVERSION.............................................................43 15. APPENDIX B: SICK LMS 200 INTERFACE CODE......................................................44 16. APPENDIX C: ER1 INTERFACE CODE .......................................................................52 17. APPENDIX D: LANDMARK EXTRACTION CODE ....................................................82 ...展开收缩
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