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cartographer/cartographer/mapping_3d
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Wolfgang Hess 56fc2a9a92 Fix 3D SLAM loop closure issues. (#296) 
3D submaps are now oriented approximately gravity aligned.
This is so that accumulating error in the local SLAM frame is
no longer a problem for finding loop closures. It also ensures
that the z search window size is approximately in the gravity
direction.

We now also pass an estimate of gravity orientation when doing
multi-trajectory matches. Otherwise trajectories starting with
different orientation relative to gravity could not be connected.

The gravity alignment is currently derived from the ImuTracker.
It might be possible to further improve on this by using the
latest gravity direction from the optimized poses.
 		2017-05-18 16:55:11 +02:00
..
proto Always use the origin as the origin for grids. (#294) 2017-05-18 12:00:45 +02:00
scan_matching Always use the origin as the origin for grids. (#294) 2017-05-18 12:00:45 +02:00
sparse_pose_graph Fix 3D SLAM loop closure issues. (#296) 2017-05-18 16:55:11 +02:00
acceleration_cost_function.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
ceres_pose.cc Support fixing z during 3D sparse pose adjustment. (#161) 2016-12-14 15:32:23 +01:00
ceres_pose.h Support fixing z during 3D sparse pose adjustment. (#161) 2016-12-14 15:32:23 +01:00
global_trajectory_builder.cc Keep 'trajectory_nodes_' per trajectory. (#291) 2017-05-17 11:15:34 +02:00
global_trajectory_builder.h Sparse pose graph no longer uses Submaps* for trajectory identification. (#290) 2017-05-16 14:24:49 +02:00
hybrid_grid.h Always use the origin as the origin for grids. (#294) 2017-05-18 12:00:45 +02:00
hybrid_grid_test.cc Always use the origin as the origin for grids. (#294) 2017-05-18 12:00:45 +02:00
imu_integration.cc Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
imu_integration.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
kalman_local_trajectory_builder.cc Fix 3D SLAM loop closure issues. (#296) 2017-05-18 16:55:11 +02:00
kalman_local_trajectory_builder.h Keep 'trajectory_nodes_' per trajectory. (#291) 2017-05-17 11:15:34 +02:00
kalman_local_trajectory_builder_options.cc Remove covariance from the 3D Ceres scan matcher. (#200) 2017-02-08 15:22:28 +01:00
kalman_local_trajectory_builder_options.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
kalman_local_trajectory_builder_test.cc Keep 'trajectory_nodes_' per trajectory. (#291) 2017-05-17 11:15:34 +02:00
local_trajectory_builder.cc Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
local_trajectory_builder.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
local_trajectory_builder_interface.h Keep 'trajectory_nodes_' per trajectory. (#291) 2017-05-17 11:15:34 +02:00
local_trajectory_builder_options.cc Remove 'laser' references from parameter names. (#259) 2017-05-04 15:38:41 +02:00
local_trajectory_builder_options.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
motion_filter.cc Improves logging, fixes #94. (#41) 2016-10-11 11:22:33 +02:00
motion_filter.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
motion_filter_test.cc Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
optimizing_local_trajectory_builder.cc Fix 3D SLAM loop closure issues. (#296) 2017-05-18 16:55:11 +02:00
optimizing_local_trajectory_builder.h Always use the origin as the origin for grids. (#294) 2017-05-18 12:00:45 +02:00
optimizing_local_trajectory_builder_options.cc Consistently name weight parameter. (#116) 2016-10-28 16:39:45 +02:00
optimizing_local_trajectory_builder_options.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
range_data_inserter.cc Rename LaserFan to RangeData. (#224) 2017-03-23 14:56:18 +01:00
range_data_inserter.h Rename LaserFan to RangeData. (#224) 2017-03-23 14:56:18 +01:00
range_data_inserter_test.cc Always use the origin as the origin for grids. (#294) 2017-05-18 12:00:45 +02:00
rotation_cost_function.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
sparse_pose_graph.cc Fix 3D SLAM loop closure issues. (#296) 2017-05-18 16:55:11 +02:00
sparse_pose_graph.h Keep 'trajectory_nodes_' per trajectory. (#291) 2017-05-17 11:15:34 +02:00
submaps.cc Fix 3D SLAM loop closure issues. (#296) 2017-05-18 16:55:11 +02:00
submaps.h Fix 3D SLAM loop closure issues. (#296) 2017-05-18 16:55:11 +02:00
translation_cost_function.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00