What is SLAM? SLAM demo. SLAM stands for Simultaneous Localization and Mapping. It is a computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. Applications Object Detection Parking Lot Annotation Lane Annotation Lane Reprojection HD Map [source] SLAM has various applications, including: ...
In this post, we will discuss the Iterative Closest Point (ICP) problem: from point-to-point and point-to-plane ICP to generalized ICP. Problem Formulation Let two 3D point-sets $\mathcal{X} = \{\mathbf{x}_i\}, i = 1, \ldots, N$ and $\mathcal{Y} = \{\mathbf{y}_j\}, j = 1, \ldots, M$, where $\mathbf{x}_i, \mathbf{y}_j \in \mathbb{R}^3$ are point coordinates, be the data point-set and the model point-set respectively. The goal is to estimate a rigid motion with rotation $\mathbf{R} \in SO(3)$ and translation $\mathbf{t} \in \mathbb{R}^3$ that minimizes the following $L_2$-error $E$: ...