graph slam BACK END 相关技术资料收集

学习SLAM首推2个网站：

1. WIKI上的SLAM介绍与资源总结：http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping

2. http://www.openslam.org/

1. The pose graph of Olson

http://rvsn.csail.mit.edu/graphoptim/

2. TreeMap

http://www.openslam.org/treemap.html

Treemap is an algorithm for feature
based Gaussian SLAM. Actually it is an algorithm for incremental
probabilistic inference in a high dimensional Gaussian defined as the
product of many low dimensional Gaussians (incremental
least square). Treemap can handle different variants of SLAM.
Everything, that's specific to a SLAM variant or even to SLAM as a
problem is contained in a small driver layer that can be adapted by the
user.

3. TORO

http://www.openslam.org/toro.html

TORO
is an optimization approach for constraint-network. It provides an
efficient, gradient descent-based error minimization procedure. There is
a 2D and a 3D version of TORO available.

4. Square Root SAM

http://www.cc.gatech.edu/~kaess/pub/Dellaert06ijrr.html

5. iSAM and iSAM2

http://people.csail.mit.edu/kaess/isam/

http://people.csail.mit.edu/kaess/pub/Kaess12ijrr.html

iSAM is a general
optimization library for incremental sparse nonlinear problems as
encountered in simultaneous localization and mapping (SLAM).

6. Sparse Pose Ajustment

http://www.ros.org/research/2010/spa/

7. g2o

http://www.openslam.org/g2o.html

g2o is an open-source C++
framework for optimizing graph-based nonlinear error functions. g2o has
been designed to be easily extensible to a wide range of problems and a
new problem typically can be specified in
a few lines of code. The current implementation provides solutions to
several variants of SLAM and BA.

8.
Vertigo

http://www.tu-chemnitz.de/etit/proaut/forschung/robustSLAM.html.en

Vertigo is a C++ extension for g2o and
gtam. It provides an implementation of switchable constraints and
enables g2o and gtsam to solve pose graph SLAM problems despite the
presence of false positive loop closure constraints.