mathematical_robotics

What is this?

Demonstration of algorithms for robotics.

Dependencies

• CMake
• Eigen3
• Ceres Solver
• Matplot++

Docker

Launch Docker with the following command:

bash docker_bringup.sh

Build

build

bash build.sh

clean build

bash clean_build.sh

Point Cloud Matching

Optimization of point cloud using Lie algebra.
Using self created Gauss-Newton method and Ceres Solver for optimization.

point_cloud_matching

Pure matching between 3D point clouds.

例

point_cloud_to_line_matching

Matching a point cloud with a line segment on a 2D plane.

例

References

• https://qiita.com/scomup/items/fa9aed8870585e865117
• https://github.com/scomup/MathematicalRobotics/tree/main
• https://github.com/borglab/gtsam/tree/develop