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SLAM 中的 Pose Graph Optimization (PGO) 算法详解
SLAM 中的 Pose Graph Optimization (PGO) 算法详解 SLAM 中的 Pose Graph Optimization (PGO) 算法详解 从直觉到数学，从公式到动画 —— 一份可交互的图优化教程 目录 为什么需要 PGO？ 位姿图的数学结构 误差函数与信息矩阵 线性化与雅可比 ⭐ 完整推导：从 F(x) 到 HΔx=-b ⭐ SE(2) 雅可比逐项推导 高斯-牛顿求解 (动画) 回环检测与漂移修正 (动…
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