Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
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Keep odometry data only as needed for pose graph optimization. #1768
Context: When a robot is not moving much, there are few trajectory nodes and odometry data can consume a lot of memory. Right now OptimizationProblem2D and OptimizationProblem3D store a lot of unneeded odometry data.
Idea: The optimization only needs odometry data directly before and after each trajectory node. This means, that all odometry data before the last node of a trajectory can be replaced by the interpolated odometry as used in the optimization problem.
wohe
commented
3 years ago
Context: When a robot is not moving much, there are few trajectory nodes and odometry data can consume a lot of memory. Right now
OptimizationProblem2DandOptimizationProblem3Dstore a lot of unneeded odometry data.Idea: The optimization only needs odometry data directly before and after each trajectory node. This means, that all odometry data before the last node of a trajectory can be replaced by the interpolated odometry as used in the optimization problem.