optimization_learning

Dependencies

• ROS2 jazzy
• Eigen 3.4.0
• PCL 1.14.0
• Ceres 2.2.0
• GTSAM 4.2.0
• OpenCV 4.6.0
• evo

  pip install evo --break-system-packages

Comparison

kitti_2011_10_03_0027

1. downsample_timing_comparison

2. gicp_traj_comparison

3. gicp_timing_comparison

4. reg_traj_comparison

5. reg_timing_comparison

gicp_Ceres failed

Todo list

• create dev container
• Migrate to ROS2 jazzy
• Add point-to-plane ICP
• Add NDT
• Add GICP
• Add ESKF
• Add IMU-preintegration

Question

1. issue #1
2. NICP Epsilon

References

• slam_in_autonomous_driving
• optimized_ICP
• small_gicp
• ndt_omp