-
Notifications
You must be signed in to change notification settings - Fork 1.1k
File Format SLAM 2D
This page summarizes the file format for the 2D SLAM vertices and edges.
The vertex information represents the current state of the parameters.
VERTEX_SE2 i x y theta
Specifies a 2D robot pose x_i = (x, y, theta)^T where (x,y)
represents the translation and theta the rotation.
VERTEX_XY i x y
Specifies a 2D landmark which is located at p_i = (x, y)^T.
The edges encode the measurements obtained by the robot.
The odometry of a robot connects subsequent vertices with a relative transformation which specifies how the robot moved according to its measurements. Additionally, non sequential poses can be related to each other by matching their observations.
EDGE_SE2 i j x y theta info(x, y, theta)
Where z_ij = (x, y, theta)^T is the measurement moving from
x_i to x_j, i.e.
x_j = x_i \oplus z_ij