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Roboseum / Software / Algorithms / Perception / Localization and Mapping / Principle / mapping / Map Registration / Map Registration.md
@Harvey Chang Harvey Chang on 2 Jan 2019 473 bytes merge
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#Map Registration(地图配准)
LIDAR depth sensor (Light Detection and Ranging), 通常嵌入在激光雷达中，提供一个二维或三维的点，可建模如下：
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地图配准即是在已知一个全局地图的情况下，将LIDAR depth sensor的当前读数与之匹配，如下图所示：
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$a-b$