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OTTFFIVE / cartographer相关开发和测试任务汇总

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Apache-2.0

cartographer相关开发和测试任务汇总

1. 研发类任务

2. 测试+部分开发任务

任务2.1 cartographer的性能定量对比评测方法与数据

  • 任务动机:为了比较cartographer的不同参数配置下的效果的不同,或者评估不同参数对最终性能的影响程度,需要一个对cartographer性能的定量对比方法。
  • 任务描述:
    • 子任务1 cartographer的位姿保存功能:保存传感器的位姿序列,保存内容为每个时刻的 <时间戳,位姿>。
    • 子任务2 位姿数据保存:选取一个bag文件,在电脑主机上面,用最优的cartographer参数跑,保存传感器的位姿序列(即每个时刻的位姿)作为参考。然后调整cartographer的不同参数配置跑,保存传感器的位姿序列。
    • 子任务3 位姿序列误差计算和可视化代码(建议用matlab完成):装载两个的位姿序列,找出相同时间戳的位姿数据对,类似KITTI那样,计算每个时刻的位移误差和旋转角度误差(参考代码),可视化误差曲线和打印平均误差,作为cartographer的性能定量评测指标。
  • 任务安排:
  • 任务状态:待安排
  • 任务结论:

3. 测试类任务

任务3.1 cartographer的前端和后端的运行时间分析

  • 任务动机:分别对cartographer的前端和后端进行运行时间分析,以确定cartographer的性能瓶颈和指导需要调整的参数。
  • 任务描述:按照cartographer性能调优文档中的建议,先关掉后端,测试前端的运行时间。 然后再打开后端,测试整体运行时间,分析瓶颈是在前端还是在后端,以及每个阶段里面的耗时地方。
  • 任务安排:
  • 任务状态:待安排
  • 任务结论:

任务3.2 cartographer的前端参数设置和效果分析

  • 任务动机:分析cartographer的前端相关的参数的效果和对性能的影响程度。
  • 任务描述:按照官方文档google-cartographer-ros-readthedocs-io-en-latest.pdf第23页的说明(To tune local SLAM for lower latency部分),在cartographer默认参数的基础上,分别调整每个参数,保存地图和任务2.1要求的位姿序列,分析参数影响。
  • 任务安排:
  • 任务状态:待安排
  • 任务结论:

任务3.3 cartographer的后端参数设置和效果分析

  • 任务动机:分析cartographer的后端相关的参数的效果和对性能的影响程度。
  • 任务描述:按照官方文档google-cartographer-ros-readthedocs-io-en-latest.pdf第23页的说明(To reduce global SLAM latency部分),在cartographer默认参数的基础上,分别调整每个参数,保存地图和任务2.1要求的位姿序列,分析参数影响。
  • 任务安排:
  • 任务状态:待安排
  • 任务结论:
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