1 dépôt
Awesome GitHub RepositoriesGlobal Geometry Optimizers
Techniques for correcting map drift across sessions by performing bundle adjustment on spatial data.
Distinct from Map Data Optimizers: Distinct from Map Data Optimizers: focuses on global geometric bundle adjustment for drift correction rather than coordinate encoding for rendering speed.
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Awesome Global Geometry Optimizers GitHub Repositories
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- introlab/rtabmap
introlab/rtabmap
3,836Voir sur GitHubThis project is a comprehensive library and toolkit for simultaneous localization and mapping, designed to construct three-dimensional environment models while tracking device position. It functions as a robotics perception framework that processes data from RGB-D, stereo, and lidar sensors to enable autonomous navigation and spatial awareness. The system distinguishes itself through its focus on long-term mapping and global consistency. It employs a sophisticated loop-closure detection engine and graph-based pose optimization to identify previously visited locations and eliminate cumulative
Corrects map drift across sessions by detecting additional loop closures and performing bundle adjustment to refine global structure.
C++
