Jeongmyung Lee <leeejeongmyung@gmail.com> (#1735)
Signed-off-by: Jeongmyung Lee <leeejeongmyung@gmail.com>master
parent
8bcb34f4ca
commit
3fef3e6eca
|
@ -278,7 +278,7 @@ The resulting net is called the "*pose graph*".
|
|||
|
||||
- Non-global constraints (also known as intra submaps constraints) are built automatically between nodes that are closely following each other on a trajectory.
|
||||
Intuitively, those "*non-global ropes*" keep the local structure of the trajectory coherent.
|
||||
- Global constraints (also referred to as loop closure constraints or inter submaps contraints) are regularly searched between a new submap and previous nodes that are considered "*close enough*" in space (part of a certain **search window**) and a strong fit (a good match when running scan matching).
|
||||
- Global constraints (also referred to as loop closure constraints or inter submaps constraints) are regularly searched between a new submap and previous nodes that are considered "*close enough*" in space (part of a certain **search window**) and a strong fit (a good match when running scan matching).
|
||||
Intuitively, those "*global ropes*" introduce knots in the structure and firmly bring two strands closer.
|
||||
|
||||
.. code-block:: lua
|
||||
|
|
Loading…
Reference in New Issue