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  • The Overview of Pyicp Slam: Giseop Kim Paulgkim@kaist - Ac.kr

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    The document discusses the process of PyICP SLAM. It begins by adding the current data to the graph as a node. It then calculates the odometry and adds it as a factor to the graph. Finally, it attempts loop detection, and if a loop is found it calculates and adds the loop factor to optimize the graph.

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    20191007 PyICP SLAM

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    The document discusses the process of PyICP SLAM. It begins by adding the current data to the graph as a node. It then calculates the odometry and adds it as a factor to the graph. Finally, it attempts loop detection, and if a loop is found it calculates and adds the loop factor to optimize the graph.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    38 views6 pages

    The Overview of Pyicp Slam: Giseop Kim Paulgkim@kaist - Ac.kr

    Uploaded by

    keep me hidden
    The document discusses the process of PyICP SLAM. It begins by adding the current data to the graph as a node. It then calculates the odometry and adds it as a factor to the graph. Finally, it attempts loop detection, and if a loop is found it calculates and adds the loop factor to optimize the graph.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 6

    The overview of

    PyICP SLAM
    Giseop Kim
    paulgkim@kaist.ac.kr
    The overview of PyICP SLAM

    1-1. current data in


    The overview of PyICP SLAM

    1-1. current data in

    1-2. add a node to the graph


    The overview of PyICP SLAM

    1-1. current data in

    1-2. add a node to the graph

    2. calculate the odometry and


    add the odometry factor to the graph
    The overview of PyICP SLAM

    1-1. current data in

    1-2. add a node to the graph

    2. calculate the odometry and


    add the odometry factor to the graph

    3-1. try loop detection


    The overview of PyICP SLAM

    1-1. current data in

    1-2. add a node to the graph

    2. calculate the odometry and


    add the odometry factor to the graph

    3-1. try loop detection


    3-2. if a loop is found,
    - calculate the loop factor
    - add to the graph
    - optimized the graph

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