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shannon112 / awesome-ros-mobile-robot

😎 A curated list of awesome mobile robots study resources based on ROS (including SLAM, odometry and navigation, manipulation)
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Non-linear Optimizer Supplementary Material #5

Open shannon112 opened 4 years ago

shannon112 commented 4 years ago

Ceres Library Source: https://github.com/ceres-solver/ceres-solver Documents: http://ceres-solver.org/ Intro by Dr. Sameer Agarwal: https://www.youtube.com/watch?v=u_YC1haw48k Tutorial: http://ceres-solver.org/tutorial.html

Related work: https://github.com/ethz-asl/okvis (OKVIS)(VI-SLAM) https://sourceforge.net/projects/slam-plus-plus/ (SLAM++)(V-SLAM) https://github.com/HKUST-Aerial-Robotics/VINS-Mono (VINS)(VI-SLAM) https://github.com/cartographer-project/cartographer_ros (cartographer)(lidar-SLAM)

shannon112 commented 4 years ago

g2o Library Kümmerle, Rainer, et al. "g 2 o: A general framework for graph optimization." 2011 IEEE International Conference on Robotics and Automation. IEEE, 2011. Source: https://github.com/RainerKuemmerle/g2o Document1: https://github.com/RainerKuemmerle/g2o/tree/master/doc/doxygen Document2: https://github.com/RainerKuemmerle/g2o/blob/master/doc/g2o.pdf

shannon112 commented 4 years ago

GTSAM Library Dellaert, Frank. Factor graphs and GTSAM: A hands-on introduction. Georgia Institute of Technology, 2012. Source: https://github.com/borglab/gtsam Tutorial: https://gtsam.org/tutorials/intro.html Document: https://gtsam.org/

shannon112 commented 4 years ago

iSAM Library Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J., and Dellaert, F. (2012). iSAM2:Incremental smoothing and mapping using the Bayes tree.Intl. J. of Robotics Research, 31:217–236. Kaess, M., Ranganathan, A., and Dellaert, F. (2008). iSAM: Incremental smoothing and mapping.IEEE Trans. Robotics, 24(6):1365–1378. Document: http://people.csail.mit.edu/kaess/isam/ (iSAM2 is available as part of the gtsam)

shannon112 commented 4 years ago

SLAM++ Library Ila, Viorela, et al. "SLAM++-A highly efficient and temporally scalable incremental SLAM framework." The International Journal of Robotics Research 36.2 (2017): 210-230. Polok, Lukas, et al. "Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics." Robotics: Science and Systems. 2013. Source: https://sourceforge.net/projects/slam-plus-plus/ Document: http://slam-plus-plus.sourceforge.net/documentation20/phunzip.php/documentation_23.zip/index.html

shannon112 commented 4 years ago

example of
Matrix Decomposition: Eigenvalue decomposition vs SVD
ICP: SVD vs Least Squares
Non-Linear Least Squares
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