建图 ¶
约 66 个字 1 张图片 预计阅读时间不到 1 分钟
Map=Data Structure + Fusion Method
Occupancy grid map¶
- Most Dense
- Structural
- Direct Index Query
Octo-map¶
- Sparse
- Structural
- Indirect Index Query
Voxel hashing¶
- Most Sparse
- Structural
- Indirect Index Query
http://www.robots.ox.ac.uk/~victor/infinitam/
Point cloud map¶
• Un-ordered • No Index Query
Free-space Roadmap¶
TSDFmap¶
Truncated Signed Distance Functions
OpenChisel
欧式符号距离场（ESDF）¶
Euclidean Signed Distance Functions Incremental Update, Global Map