cartographer-project/cartographer
GitHub で見るKeep odometry data only as needed for pose graph optimization.
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#1,768 opened on 2020年10月29日
enhancementhelp wanted
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説明
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.