Fork: 0
Skyworks / Roboseum
Transfer to URL with SHA Find file
Newer
Older
Roboseum / Software / Algorithms / Perception / localization-and-mapping / principle / mapping / map-registration / map-registration.md
@guzhaoyuan guzhaoyuan on 3 Jan 2019 640 bytes all the modification and conflict fix for gitbook
Raw Blame History

Map Registration

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： Alt text

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： Alt text

Alt text Alt text Alt text

$a-b$