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multimapmerge's Introduction

多机器人地图拼接

UML

TODO LIST

  • KeyFrameNode

    • 计算相似度(computeSimilarity)
    • 关键帧地图坐标系转移(transformByPose)
  • DiscreteGlobalMap

    • 搜索两个地图间重叠区域匹配关键帧对(findOverlappingNodes)
    • 根据关键帧匹配对计算地图变换位姿(computeTransformPose)
    • 点云配准具体实现(matchPointcloud)
  • MapMerger

    • 地图拼接主入口(merge)
    • 数据输入(MapMerger构造)

CHANGELOG

  • 2020/11/05 22:25
    • 提交程序框架和大纲

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multimapmerge's Issues

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