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.. _tutorial-pdf-over-poses: | ||
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=================================================================== | ||
Probability Density Functions (PDFs) over spatial transformations | ||
=================================================================== | ||
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These distributions can be used as to represent the robot positining belief | ||
and the map uncertainty in many localization and SLAM algorithms. | ||
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They include unimodal Gaussians, sum of Gaussians, sets of particles, | ||
and grid representations, methods to convert between them and to draw | ||
an arbitrary number of samples from any kind of distribution: | ||
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- Points: | ||
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- R^3 points: `mrpt::poses::CPointPDF <class_mrpt_poses_CPointPDF.html>`_. | ||
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- SE(2) poses: | ||
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- `mrpt::poses::CPosePDF <class_mrpt_poses_CPosePDF.html>`_ | ||
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- SE(3) poses: | ||
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- `mrpt::poses::CPose3DPDF <class_mrpt_poses_CPose3DPDF.html>`_ (for poses as rotation matrix and yaw/pitch/roll). | ||
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- `mrpt::poses::CPose3DQuatPDF <class_mrpt_poses_CPose3DQuatPDF.html>`_ (for poses as quaternions) poses. | ||
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Each of the above abstract classes has implementations for different | ||
kinds of representing the spatial uncertainty: | ||
particles using importance sampling, a single monomodal gaussian, | ||
or a sum of gaussians. | ||
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The technical report :cite:`blanco_se3_tutorial` contains most | ||
of the derivations of the implemented Jacobians. |
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.. _tutorial-slam-algorithms: | ||
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=========================================================================== | ||
SLAM algorithms in MRPT | ||
=========================================================================== | ||
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Not all SLAM algorithms fit any kind of observation (sensor data) and produce any map type. | ||
The following summarizes the SLAM algorithms implemented in MRPT and their associated map and observation types, | ||
grouped by input sensors. | ||
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- 2D laser scanner `mrpt::obs::CObservation2DRangeScan <class_mrpt_obs_CObservation2DRangeScan.html>`_: | ||
- To generate 2D occupancy grids (`mrpt::maps::COccupancyGridMap2D <class_mrpt_maps_COccupancyGridMap2D.html>`_) | ||
or point clouds (`mrpt::maps::CPointsMap <class_mrpt_maps_CPointsMap.html>`_). | ||
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- `rbpf-slam <page_app_rbpf-slam.html>`_ | ||
- `icp-slam <page_app_icp-slam.html>`_ | ||
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- Sonar sensors `mrpt::obs::CObservationRange <class_mrpt_obs_CObservationRange.html>`_: | ||
- To generate 2D occupancy grids (`mrpt::maps::COccupancyGridMap2D <class_mrpt_maps_COccupancyGridMap2D.html>`_): | ||
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- `rbpf-slam <page_app_rbpf-slam.html>`_ | ||
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- Range-bearing landmarks (`mrpt::obs::CObservationBearingRange <class_mrpt_obs_CObservationBearingRange.html>`_): | ||
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- EKF-based SLAM: `kf-slam <page_app_kf-slam.html>`_ | ||
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- Monocular image features (visual keypoint matches from a visual SLAM front-end): | ||
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- Back-end only: `vision_bundle_adj_example <page_vision_bundle_adj_example.html>`_ | ||
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- Range-only sensors (`mrpt::obs::CObservationBeaconRanges <class_mrpt_obs_CObservationBeaconRanges.html>`_): | ||
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- `Range-only SLAM page <range_only_localization_mapping.html>`_ | ||
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- Relative poses (Pose-graph or Graph-SLAM): | ||
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- Graph-SLAM maps (Write me!) https://www.mrpt.org/Graph-SLAM_maps | ||
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