lishuwei0424/state_estimation_cg

state estimation for slam

State Estimation

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[TOC]

1. Probability Theory and Statistics

MLE, MAP & MLS

• MLE (Maximum Likelihood Estimate)
  • 模型已定，参数未知：找出一组参数，使得模型产生出观测数据的概率最大，即找出一组能使似然函数最大的参数
• MAP (Maximum A Posteriori)
• MLS (Minimum Least Squares)
  • OLS (Ordinary Least Squares)
  • Weighted Least Squares

RANSAC

• RANSAC (RANdom SAmple Consensus)

M-Estimator

• M-estimators
• MLESAC: A New Robust Estimator with Application to Estimating Image Geometry

Probabilistic Graphical Models

• 读懂概率图：你需要从基本概念和参数估计开始
• Probabilistic Graphical Models (10-708, Spring 2014)
• Probabilistic inference and factor graphs
• pgmpy
• OpenGM: a C++ template library for discrete factor graph models and distributive operations on these models

Factor Graph

Bayesian Network

2. Filters

Kalman Filter

• KF (Kalman Filter)
• EKF (Extended Kalman Filter)

3. Optimization

Basics

• Gauss Newton
• Levenberg-Marquadt
• ESM

Optimizer

• g2o: A General Framework for Graph Optimization

  • recommend version: commit id ff647bd (ff647bd7537860a2b53b3b774ea821a3170feb13)
  • Ubuntu 16.04.1 :: error while trying to run g2o_viewer
  • SLAM Implementation: Bundle Adjustment with g2o

• Ceres Solver: an open source C++ library for modeling and solving large, complicated optimization problems

  • Ceres-Solver 从入门到上手视觉SLAM位姿优化问题

• iSAM (Incremental Smoothing and Mapping) is an optimization library for sparse nonlinear problems as encountered in simultaneous localization and mapping (SLAM), provides efficient algorithms for batch and incremental optimization, recovering the exact least-squares solution

• GTSAM

  • Factor Graphs and GTSAM

• TORO (Tree-based netwORk Optimizer) is an optimization approach for constraint-network

• vertigo (Versatile Extensions for RobusT Inference using Graph Optimization) is an extension library for g2o and gtsam 2.0

• NLopt is a library for nonlinear local and global optimization, for functions with and without gradient information

• OR-Tools is an open source software suite for optimization, tuned for tackling the world's toughest problems in vehicle routing, flows, integer and linear programming, and constraint programming.

• immoptibox: A MATLAB TOOLBOX FOR OPTIMIZATION AND DATA FITTING

Pose Graph

• Pose Graph Optimization
• Robust Factor Graphs for Pose Graph SLAM

Bundle Adjustment

• Bundle adjustment (wikipedia)
• sba: A Generic Sparse Bundle Adjustment C/C++ Package Based on the Levenberg-Marquardt Algorithm
• cvsba: an OpenCV wrapper for sba library
• sparseLM : Sparse Levenberg-Marquardt nonlinear least squares in C/C++
• Bundle Adjustment in the Large
• Multicore Bundle Adjustment

Sparse Hessian matrix :

4. Dataset

BAL Dataset

• Bundle Adjustment in the Large

g2o Dataset

• g2o format datasets – Luca Carlone
• sphere.g2o

5. Books

• Probability, Statistics and Random Processes

• STATE ESTIMATION FOR ROBOTICS

• Probabilistic Robotics

  • pptacher/probabilistic_robotics: solution of exercises of the book "probabilistic robotics"

• Factor Graphs for Robot Perception