【論文閱讀記錄】Real-Time Correlative Scan Matching

這篇文章是谷歌的Cartograph中實現real_time_correlative_scan_matcher的論文

 

Real-Time Correlative Scan Matching
Edwin B. Olson
University of Michigan
Department of Electrical Engineering and Computer Science
Ann Arbor, MI 48109
Email: [e-mail]
http://april.eecs.umich.edu

提出了一種概率驅動的掃描匹配方法。

Fig. 2. Graphical model for probabilistic scan matching. xi􀀀1 represents the
previous position of the robot, u the motion of the robot, xi the new robot
position, m the world model, and z the laser scan observation.

 

we can the compute the
conditional probability that the sensor observes a nearby point
p given that mi was the cause of that observation. We repeat
this process for each point in the map, recording the maximum
probability for each point in the lookup table

使用傳感器的已知信息，大概估計了機器人會往哪走，然后通過

粗暴建立了高斯分布的概率的lookup表，計算時候用GPU加速。