Maplab 学习笔记


[TOC]

Overview

Maplab Framework

Typical workflow

Online ROVIOLI frontend

Offline maplab console

  • a convenient console user interface and a map manager to access the maps,
  • a plug-in architecture to easily extend it with new commands and algorithms,
  • visual-inertial least-squares optimization that can be extended with additional sensors,
  • robust pose-graph relaxation using switchable constraints,
  • BRISK/FREAK-based loopclosure,
  • map summarization for lifelong mapping,
  • dense reconstruction and an interface to Voxblox.



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