Andycheng0614 / state_estimation

State Estimation for SLAM

State Estimation

• https://cggos.github.io/archive.html?tag=StateEstimation

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1. Probability Theory and Statistics

MAP, MLE & MLS

• MAP (Maximum A Posteriori)

• 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

• MLS (Minimum Least Squares)

  • OLS (Ordinary Least Squares)
  • WLS (Weighted Least Squares)

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

Markov Random Fields

2. Filters

3. Optimization

Basics

• Gauss Newton

• Levenberg-Marquadt

  • sparseLM : Sparse Levenberg-Marquardt nonlinear least squares in C/C++

• ESM

Optimizer

• immoptibox: A MATLAB TOOLBOX FOR OPTIMIZATION AND DATA FITTING

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

• g2o: A General Framework for Graph Optimization

  • Ubuntu 16.04.1 :: error while trying to run g2o_viewer
  • g2o_viewer error
  • 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

• 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

• 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.

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