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Martin Schwörer 23351be571
added imu based extrapolator impl (#1728) 
This adds an alternative implementation for pose extrapolation which uses imu integration as well as past local SLAM results (and odometry data) to predict a pose. This allows to perform motion compensation and initialize scan matching afterwards.

Using imu data for pose extrapolation and motion compensation is more accurate, because it does not make a constant velocity assumption like the PoseExtrapolator implementation. Next steps are the integration into local trajectory builder as well as tuning the parameters for existing datasets.

This PR is quite large but was already reviewed in smaller chunks internally and combines contributions from @danielsievers, @wohe and @schwoere.

Signed-off-by: mschworer <mschworer@lyft.com>
 		2020-07-29 14:48:01 +02:00
.bazelci Limit `bazel test` parallelism more precisely (#1094) 2018-04-19 18:51:20 +02:00
.github Updated PR template taking wally into account. (#663) 2017-11-14 14:41:48 +01:00
bazel Fix build status on front page. (#1693) 2020-06-02 14:08:16 +02:00
cartographer added imu based extrapolator impl (#1728) 2020-07-29 14:48:01 +02:00
cmake Only set C++11 explicitly for old versions of GCC. (#1724) 2020-07-23 11:46:59 +02:00
configuration_files Allow using TolerantLoss for INS in pose graph optimization (#1700) 2020-06-15 10:56:23 +02:00
docs Small Abseil fixes for dependents. (#1711) 2020-06-25 09:35:57 +02:00
scripts Add Debian Buster to the install script and CI. (#1715) 2020-07-09 14:54:16 +02:00
.bazelrc Upgrade all dependencies to new Starlark syntax. (#1483) 2018-12-18 14:19:29 +01:00
.dockerignore Add Xenial to build matrix. (#156) 2016-12-09 10:57:41 +01:00
.gitignore Add a Bazel build for cartographer (#834) 2018-01-22 16:47:07 +01:00
.travis.yml Add Debian Buster to the install script and CI. (#1715) 2020-07-09 14:54:16 +02:00
AUTHORS Initial import of Cartographer codebase. 2016-08-02 09:12:42 +02:00
BUILD.bazel Add licenses() declarations to BUILD files (#843) 2018-01-24 13:16:25 +01:00
CHANGELOG.rst Release 1.0 (#1177) 2018-06-05 12:54:07 +02:00
CMakeLists.txt Use installed Abseil. (#1570) 2020-06-24 10:53:03 +02:00
CONTRIBUTING.md Change from Google CLA to DCO in CONTRIBUTING.md. (#1702) 2020-06-16 18:15:25 +02:00
Dockerfile.bionic Add Debian Buster to the install script and CI. (#1715) 2020-07-09 14:54:16 +02:00
Dockerfile.buster Add Debian Buster to the install script and CI. (#1715) 2020-07-09 14:54:16 +02:00
Dockerfile.focal Add Debian Buster to the install script and CI. (#1715) 2020-07-09 14:54:16 +02:00
Dockerfile.stretch Use installed Abseil. (#1570) 2020-06-24 10:53:03 +02:00
Dockerfile.trusty.bazel Configurable CC/CXX compiler toolchain in Dockerfiles. (#1402) 2018-10-31 15:34:05 +01:00
Dockerfile.xenial Add Debian Buster to the install script and CI. (#1715) 2020-07-09 14:54:16 +02:00
LICENSE Initial import of Cartographer codebase. 2016-08-02 09:12:42 +02:00
README.rst Fix build status on front page. (#1693) 2020-06-02 14:08:16 +02:00
RELEASING.rst Fix build status on front page. (#1693) 2020-06-02 14:08:16 +02:00
WORKSPACE Upgrade all dependencies to new Starlark syntax. (#1483) 2018-12-18 14:19:29 +01:00
azure-pipelines.yml Windows build fixes & Azure CI (#1463) 2018-12-16 17:04:23 +01:00
cartographer-config.cmake.in Small Abseil fixes for dependents. (#1711) 2020-06-25 09:35:57 +02:00
package.xml Update package.xml for ROS Noetic. (#1723) 2020-07-23 10:12:11 +02:00

README.rst 

.. Copyright 2016 The Cartographer Authors

.. Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

..      http://www.apache.org/licenses/LICENSE-2.0

.. Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

============
Cartographer
============

|build| |docs| |license|

Purpose
=======

`Cartographer`_ is a system that provides real-time simultaneous localization
and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
configurations.

|video|

.. _Cartographer: https://github.com/cartographer-project/cartographer
.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping

Getting started
===============

* Learn to use Cartographer at `our Read the Docs site`_.
* You can ask a question by `creating an issue`_.

.. _our Read the Docs site: https://google-cartographer.readthedocs.io
.. _creating an issue: https://github.com/cartographer-project/cartographer_ros/issues/new?labels=question

Contributing
============

You can find information about contributing to Cartographer at `our Contribution
page`_.

.. _our Contribution page: https://github.com/cartographer-project/cartographer/blob/master/CONTRIBUTING.md

Open house slide archive
========================

In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer.
Slides of these Cartographer Open House meetings are listed below.

- March 14, 2019: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/190314/slides.pdf>`_
- February 21, 2019: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/190221/slides.pdf>`_
- January 17, 2019: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/190117/slides.pdf>`_
- November 22, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/181122/slides.pdf>`_
- October 25, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/181025/slides.pdf>`_
- September 13, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180913/slides.pdf>`_
- August 16, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180816/slides.pdf>`_
- August 2, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180802/slides.pdf>`_
- July 5, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180705/slides.pdf>`_
- June 21, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180621/slides.pdf>`_
- June 7, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180607/slides.pdf>`_
- May 24, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180524/slides.pdf>`_
- May 3, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180503/slides.pdf>`_
- March 29, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180329/slides.pdf>`_
- February 22, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180222/slides.pdf>`_
- February 8, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180208/slides.pdf>`_
- January 18, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180125/slides.pdf>`_
- January 11, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180111/slides.pdf>`_
- December 7, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171207/slides.pdf>`_
- November 23, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171123/slides.pdf>`_
- November 9, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171109/slides.pdf>`_
- October 26, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171026/slides.pdf>`_
- October 12, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171012/slides.pdf>`_
- September 14, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170914/slides.pdf>`_
- August 17, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170817/slides.pdf>`_
- July 20, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170720/slides.pdf>`_
- July 6, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170706/slides.pdf>`_
- June 22, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170622/sildes.pdf>`_
- June 8, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170608/slides.pdf>`_

.. |build| image:: https://travis-ci.org/cartographer-project/cartographer.svg?branch=master
    :alt: Build Status
    :scale: 100%
    :target: https://travis-ci.org/cartographer-project/cartographer
.. |docs| image:: https://readthedocs.org/projects/google-cartographer/badge/?version=latest
    :alt: Documentation Status
    :scale: 100%
    :target: https://google-cartographer.readthedocs.io/en/latest/?badge=latest
.. |license| image:: https://img.shields.io/badge/License-Apache%202.0-blue.svg
     :alt: Apache 2 license.
     :scale: 100%
     :target: https://github.com/cartographer-project/cartographer/blob/master/LICENSE
.. |video| image:: https://j.gifs.com/wp3BJM.gif
    :alt: Cartographer 3D SLAM Demo
    :scale: 100%
    :target: https://youtu.be/DM0dpHLhtX0