1. Intro
Hardware: Laser Lidar
Input: a series of 2D or 3D point, $X_0, X_1…X_n$
Output: the R,T betwwen $X_i$ and $X_{i+1}$
2. Algorithm
General Procedure
- Point selection: for lidar, the data is in order
- Matching: nearest neighbor
- Weighting
- Rejecting
- Calculate error
- Minimize the error
3. Plan
- get real data
- From ros, record the data using ROS bag
- Convert the rosbag to numpy
- Test algorithm in existing code
- Migrate the algorithm to Taichi version