dlo_slam
所属分类：人工智能/神经网络/深度学习
开发工具：C/C++
文件大小：49KB
下载次数：1
上传日期：2020-11-26 18:24:41
上 传 者：
plumewind
说明： 半直接法激光里程计——dlo_slam
首先，在第一帧上提取GFTT特征点，接着在第二帧上进行LK光流追踪，确定有效点；
然后，在第三帧上进行局部光流匹配，优化帧间位姿；
最后，获得帧间位姿后，进行全局优化，得到激光雷达位置。
(Semi direct laser odometer)
文件列表:
dlo_slam (0, 2020-11-18)
dlo_slam\CMakeLists.txt (1709, 2019-07-26)
dlo_slam\package.xml (1333, 2019-07-19)
dlo_slam\bin (0, 2019-07-24)
dlo_slam\cmake_modules (0, 2020-11-18)
dlo_slam\cmake_modules\FindCSparse.cmake (576, 2019-05-17)
dlo_slam\cmake_modules\FindEigen3.cmake (3249, 2019-07-08)
dlo_slam\cmake_modules\FindG2O.cmake (3277, 2019-05-17)
dlo_slam\cmake_modules\FindGlog.cmake (8639, 2019-07-08)
dlo_slam\config (0, 2020-11-18)
dlo_slam\config\default.yaml (667, 2019-07-30)
dlo_slam\include (0, 2020-11-18)
dlo_slam\include\common_include.h (2075, 2019-07-25)
dlo_slam\include\config.h (1414, 2019-07-25)
dlo_slam\include\frame.h (2297, 2019-07-29)
dlo_slam\include\laser_odometry.h (0, 2019-05-17)
dlo_slam\include\lidar.h (2207, 2019-07-29)
dlo_slam\include\map.h (1299, 2019-07-25)
dlo_slam\include\mappoint.h (1554, 2019-07-25)
dlo_slam\include\system.h (1252, 2019-07-30)
dlo_slam\include\tool.h (419, 2019-07-25)
dlo_slam\include\tracking.h (6110, 2019-07-31)
dlo_slam\include\viewer.h (1218, 2019-07-29)
dlo_slam\launch (0, 2020-11-18)
dlo_slam\launch\run_simple.launch (805, 2019-07-26)
dlo_slam\launch\run_test.launch (937, 2019-07-29)
dlo_slam\launch\run_test.rviz (8412, 2019-07-23)
dlo_slam\launch\simple.rviz (8412, 2019-07-23)
dlo_slam\lib (0, 2019-07-24)
dlo_slam\rviz (0, 2020-11-18)
dlo_slam\rviz\run_test.rviz (5002, 2019-07-19)
dlo_slam\src (0, 2020-11-18)
dlo_slam\src\config.cpp (1383, 2019-07-25)
dlo_slam\src\frame.cpp (5144, 2019-07-30)
dlo_slam\src\lidar.cpp (2938, 2019-07-29)
dlo_slam\src\map.cpp (1430, 2019-07-25)
dlo_slam\src\mappoint.cpp (1381, 2019-07-25)
dlo_slam\src\system.cpp (1415, 2019-08-01)
dlo_slam\src\tracking.cpp (10807, 2019-08-01)
dlo_slam\src\viewer.cpp (8386, 2019-07-29)
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