English
资源说明：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
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