5af133c0dd
Improve the sparse pose graph optimization. ( #165 )
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Removes the loss function for intra-submap constraints in 3D SLAM,
as it is already done in 2D. Also removes a duplicate call to the
solver in 2D, and code cleanup.
2016-12-19 17:02:05 +01:00
574a56bbbc
Remove the UKF from local 2D SLAM. ( #140 )
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Changes default configuration to log loop closure matches.
2016-11-23 12:37:55 +01:00
a39bbff70c
Removes odometer covariance from public API. ( #137 )
2016-11-21 12:34:52 +01:00
8cd3178c69
Moves 2D laser options into 2D trajectory builder. ( #114 )
2016-11-15 13:24:58 +01:00
3e64a803a4
Consistently name weight parameter. ( #116 )
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All parameters scaling optimization residuals to determine relative
importance are now consistently named.
2016-10-28 16:39:45 +02:00
b94880c56e
Improves parameter names. ( #111 )
2016-10-28 13:26:13 +02:00
a5b81ff159
Allow continuing after running a "final" optimization. ( #109 )
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And a tiny cleanup of the submap visualization query.
2016-10-27 15:25:57 +02:00
8238ad8bc3
Do not accumulate scans by default for 3D SLAM. ( #30 )
2016-10-04 14:59:09 +02:00
d2962c004f
Remove the 'also_match_to_new_submaps' option. ( #29 )
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Instead, using a different constraint_builder.sampling_ratio is preferred.
2016-09-30 16:00:10 +02:00
e526a7022f
Remove covariance computation from branch-and-bound. ( #27 )
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These covariances were only used in 2D and are only an estimate.
Following 3D, we change 2D to use the (local) covariance computed
using Ceres.
2016-09-23 14:27:19 +02:00
14355a91a1
Remove dead code. ( #26 )
2016-09-22 17:53:32 +02:00
0796d50b00
Removes max_covariance_trace option. ( #25 )
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This option is no longer really useful to predict outliers.
It is removed and other parameters scaled to minimize the change
in behavior. And related cleanup.
2016-09-22 11:35:47 +02:00
83a29df102
Renames expect_imu to use_imu. ( #24 )
2016-09-08 16:36:05 +02:00
fc166fdefa
Adds MapBuilder and cleans up some configurations. ( #23 )
2016-09-08 16:21:25 +02:00
54a7faf294
Optimize only once per submap in 2D. ( #22 )
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The setting was unintentionally set to optimize twice per submap which
harms parallelism.
2016-09-08 14:36:33 +02:00
269c28cb0c
Moves the contents of the cartographer subdirectory up one level.
2016-08-03 12:48:29 +02:00
Wolfgang Hess
Damon Kohler
Damon Kohler