姿势
Create 2-D pose graph
描述
A姿势object stores information for a 2-D pose graph representation. A pose graph contains nodes connected by edges. Each node estimate is connected to the graph by edge constraints that define the relative pose between nodes and the uncertainty on that measurement.
To construct a pose graph iteratively, use the添加斑点功能以添加相对姿势估计并将其连接到具有指定边缘约束的现有节点。姿势节点必须相对于姿势节点指定。使用信息矩阵指定测量的不确定性。
在两个非顺序节点之间添加边缘会创建一个loop closure在图中。多个边缘或multiedges还支持在节点对之间，其中包括循环封闭。金宝app要添加其他边缘约束或循环闭合，请使用该节点ID指定添加斑点功能。When optimizing the pose graph, theoptimizePoseGraphfunction finds a solution to satisfy all these edge constraints.
To add landmark point nodes, use theaddPointLandmark功能。此函数将节点指定为xy-points without orientation estimates. Landmarks must be specified relative to a pose node.
ThelidarSLAM对象执行基于激光雷达的同时定位和映射，该定位和映射基于2D姿势图的优化。
有关3D姿势图，请参见poseGraph3D对象或Landmark SLAM Using AprilTag Markers例子。
Creation
Properties
Object Functions
addPointLandmark |
将地标点节点添加到姿势图 |
添加斑点 |
Add relative pose to pose graph |
复制 |
创建姿势图的副本 |
edgeNodePairs |
Edge node pairs in pose graph |
edgeconstraints |
Edge constraints in pose graph |
edgeResidualErrors |
计算姿势图边缘残差错误 |
findedgeid |
Find edge ID of edge |
nodeEstimates |
Poses of nodes in pose graph |
拆除 |
Remove loop closure edges from graph |
show |
Plot pose graph |
例子
优化2D姿势图
根据节点和边缘约束优化姿势图。此示例中使用的姿势图来自英特尔研究实验室数据集and was generated from collecting wheel odometry and a laser range finder sensor information in an indoor lab.
加载包含2D姿势图的英特尔数据集。检查姿势object to view the number of nodes and loop closures.
loadIntel-2D posegraph.matpgdisp(pg)
姿势with properties: NumNodes: 1228 NumEdges: 1483 NumLoopClosureEdges: 256 LoopClosureEdgeIDs: [1228 1229 1230 1231 1232 1233 1234 1235 1236 ... ] LandmarkNodeIDs: [1x0 double]
Plot the pose graph with IDs off. Red lines indicate loop closures identified in the dataset.
表演（PG，'IDS','离开'）；标题（'Original Pose Graph')
Optimize the pose graph. Nodes are adjusted based on the edge constraints and loop closures. Plot the optimized pose graph to see the adjustment of the nodes with loop closures.
更新PG = OptimizeposeGraph（PG）;图显示（更新PG，'IDS','离开'）；标题（'Updated Pose Graph')
参考
[1] Grisetti，G.，R。Kummerle，C。Stachniss和W. Burgard。“基于图基的大满贯的教程。”IEEE Intelligent Transportation Systems Magazine。Vol. 2, No. 4, 2010, pp. 31–43. doi:10.1109/mits.2010.939925.
Extended Capabilities
版本历史
