<?xml version="1.0" encoding="utf-8" ?><rss version="2.0"><channel><title><![CDATA[Cloud_H的博客]]></title><description><![CDATA[]]></description><link>https://blog.youkuaiyun.com/Cloud_H</link><language>zh-cn</language><generator>https://blog.youkuaiyun.com/</generator><copyright><![CDATA[Copyright &copy; Cloud_H]]></copyright><item><title><![CDATA[【cartographer without ros】十丶脱离ros的cartographer简单小结]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/132859914</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/132859914</guid><author>Cloud_H</author><pubDate>Sun, 17 Sep 2023 13:06:20 +0800</pubDate><description><![CDATA[上一节介绍了cartographer的到arm的交叉编译。这节对脱离ros环境使用cartographer的系列文章和开发思路做一个简单小结。]]></description><category></category></item><item><title><![CDATA[【cartographer without ros】九、cartographer的交叉编译(Arm)]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/132857766</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/132857766</guid><author>Cloud_H</author><pubDate>Sun, 17 Sep 2023 13:05:55 +0800</pubDate><description><![CDATA[上一节介绍了使用cartographer封装的接口实现对应的建图，存储和定位等功能。本节将介绍cartographer的交叉编译，方便进行多平台的移植（以Arm为例）。]]></description><category></category></item><item><title><![CDATA[【cartographer without ros】八、使用MapBuilder建图，存储，定位]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/132856506</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/132856506</guid><author>Cloud_H</author><pubDate>Sat, 16 Sep 2023 19:30:00 +0800</pubDate><description><![CDATA[上一节介绍了在脱离ros环境后，引入和使用Rosbag，并进行传感器数据的读写。
本节就将介绍在自己的工程中，使用cartographer的接口进行功能实现。
事实上，这部分是仿照cartographer_ros进行实现：通过使用MapBuilderInterface和TrajectoryBuilderInterface实现对应的建图，存储和定位。]]></description><category></category></item><item><title><![CDATA[【cartographer without ros】七、Rosbag的引入和使用]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/132854506</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/132854506</guid><author>Cloud_H</author><pubDate>Wed, 13 Sep 2023 15:16:20 +0800</pubDate><description><![CDATA[上一节介绍了LandmarkData数据相关转换，到此阐述了在不带ros环境中，对cartographer所需要的几类传感器数据进行处理。本节就将介绍在脱离ros环境后，我们仍可以引入和使用，以对外部数据进行存包读包，方便我们对cartographer的建图和定位做离线模拟和调试。]]></description><category></category></item><item><title><![CDATA[【cartographer without ros】六、路标landmark数据转换]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/127206043</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/127206043</guid><author>Cloud_H</author><pubDate>Sat, 08 Oct 2022 11:52:56 +0800</pubDate><description><![CDATA[上一节介绍了IMU数据相关转换。本节就开始介绍cartographer中的数据和Ros中的数据相互转换，方便引入Rosbag进行储存和读取。]]></description><category></category></item><item><title><![CDATA[【cartographer without ros】五、陀螺仪Imu数据转换]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/126223525</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/126223525</guid><author>Cloud_H</author><pubDate>Mon, 08 Aug 2022 11:00:54 +0800</pubDate><description><![CDATA[本节将介绍陀螺仪Imu数据转换为cartographer中的数据。还有cartographer中的ImuData数据和Ros的数据相互转换，方便引入Rosbag进行储存和读取。]]></description><category></category></item><item><title><![CDATA[【cartographer without ros】四、里程计odom数据转换]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/126155588</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/126155588</guid><author>Cloud_H</author><pubDate>Thu, 04 Aug 2022 11:03:32 +0800</pubDate><description><![CDATA[本节将介绍里程计Odom数据转换为cartographer中的数据。还有cartographer中的数据和Ros的数据相互转换，方便引入Rosbag进行储存和读取。]]></description><category></category></item><item><title><![CDATA[【cartographer without ros】三、雷达scan数据转换]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/126118568</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/126118568</guid><author>Cloud_H</author><pubDate>Tue, 02 Aug 2022 11:19:02 +0800</pubDate><description><![CDATA[本节开始介绍将最常用的激光雷达传感数据转换为cartographer中的数据。还有cartographer中的数据和Ros的数据相互转换，方便引入Rosbag进行储存和读取。]]></description><category></category></item><item><title><![CDATA[【cartographer ros】十： 延时误差分析和小结]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/126037384</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/126037384</guid><author>Cloud_H</author><pubDate>Fri, 29 Jul 2022 09:09:20 +0800</pubDate><description><![CDATA[本节将分析cartographer运行时的误差与延迟，主要是在线定位时的，并尝试优化解决。]]></description><category></category></item><item><title><![CDATA[【cartographer ros】九： 用自己的数据建图和定位]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/126010446</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/126010446</guid><author>Cloud_H</author><pubDate>Thu, 28 Jul 2022 09:01:47 +0800</pubDate><description><![CDATA[通过前面的介绍了，我们可以自己实现数据的发布，然后在cartographer进行建图和定位，并调整参数查看效果。本节就将介绍在cartographer用自己的数据进行建图和定位(在线和离线)。]]></description><category></category></item><item><title><![CDATA[【cartographer without ros】二、使用cartographer的思路和大纲]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/126009014</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/126009014</guid><author>Cloud_H</author><pubDate>Wed, 27 Jul 2022 10:21:03 +0800</pubDate><description><![CDATA[本节分析以下在无Ros的环境，应该怎样使用cartographer。]]></description><category></category></item><item><title><![CDATA[【cartographer without ros】一、不带Ros的快速安装]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/125999844</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/125999844</guid><author>Cloud_H</author><pubDate>Tue, 26 Jul 2022 17:49:14 +0800</pubDate><description><![CDATA[使用Cartographer有Ros集成环境和无Ros环境，可以使用ROS集成快速入门，但是在实际开发使用中，可能由于硬件或者其他因素影响，需要脱离Ros环境使用Cartographer。]]></description><category></category></item><item><title><![CDATA[【cartographer_ros】八： 官方Demo参数配置和效果]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/125972030</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/125972030</guid><author>Cloud_H</author><pubDate>Mon, 25 Jul 2022 12:00:19 +0800</pubDate><description><![CDATA[本节会研究一下这些参数改动，对算法的影响和效果，cartographer的调参一直是一个比较复杂的过程。]]></description><category></category></item><item><title><![CDATA[【cartographer_ros】七： 主要配置参数说明]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/125600562</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/125600562</guid><author>Cloud_H</author><pubDate>Mon, 04 Jul 2022 15:18:28 +0800</pubDate><description><![CDATA[本节会介绍cartographer的主要配置参数，研究这些参数的使用和对算法的影响。]]></description><category></category></item><item><title><![CDATA[【cartographer_ros】六： 发布和订阅路标landmark信息]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/125504070</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/125504070</guid><author>Cloud_H</author><pubDate>Tue, 28 Jun 2022 16:14:25 +0800</pubDate><description><![CDATA[上一节介绍了陀螺仪Imu传感数据的订阅和发布。本节会介绍路标Landmark数据的发布和订阅。Landmark在cartographer中作为定位的修正补充，避免定位丢失。]]></description><category></category></item><item><title><![CDATA[【cartographer_ros】五： 发布和订阅陀螺仪Imu信息]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/125479827</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/125479827</guid><author>Cloud_H</author><pubDate>Mon, 27 Jun 2022 11:06:27 +0800</pubDate><description><![CDATA[上一节介绍了里程计Odometry传感数据的订阅和发布。本节会介绍陀螺仪Imu数据的发布和订阅。陀螺仪在cartographer中主要用于前端位置预估和后端优化。]]></description><category></category></item><item><title><![CDATA[【cartographer_ros】四： 发布和订阅里程计odom信息]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/125442783</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/125442783</guid><author>Cloud_H</author><pubDate>Fri, 24 Jun 2022 11:57:48 +0800</pubDate><description><![CDATA[上一节介绍了激光雷达Odometry传感数据的订阅和发布。本节会介绍里程计Odom数据的发布和订阅。里程计在cartographer中主要用于前端位置预估和后端优化。]]></description><category></category></item><item><title><![CDATA[【cartographer_ros】三： 发布和订阅雷达LaserScan信息]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/125441069</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/125441069</guid><author>Cloud_H</author><pubDate>Fri, 24 Jun 2022 10:45:08 +0800</pubDate><description><![CDATA[上一节介绍和测试了cartographer的官方demo。本节会编写ros系统中，最常用的激光雷达LaserScan传感数据的订阅和发布，方便在cartographer中加入自己的数据进行建图与定位。]]></description><category></category></item><item><title><![CDATA[【cartographer_ros】二： 官方Demo的介绍与演示]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/125431163</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/125431163</guid><author>Cloud_H</author><pubDate>Thu, 23 Jun 2022 17:33:40 +0800</pubDate><description><![CDATA[上一节我们介绍了在linux中快速安装集成ros环境的cartographer。 本节我们会来跑一些官方demo，用于测试cartographer是否正确安装，顺便看看cartographer的建图与定位效果。]]></description><category></category></item><item><title><![CDATA[【cartographer_ros】一 : ros系统下的快速安装]]></title><link>https://blog.youkuaiyun.com/Cloud_H/article/details/125406495</link><guid>https://blog.youkuaiyun.com/Cloud_H/article/details/125406495</guid><author>Cloud_H</author><pubDate>Wed, 22 Jun 2022 11:58:19 +0800</pubDate><description><![CDATA[Cartographer是一个跨多个平台和传感器配置提供 2D 和 3D实时同步定位和映射 ( SLAM ) 的系统。
使用Cartographer有Ros集成环境和无Ros环境，对于新手快速入门，推荐使用ROS集成。
本文介绍了在Ros集成环境下快速安装Cartographer。.........]]></description><category></category></item></channel></rss>