Not all SLAM algorithms fit any kind of observation (sensor data) and produce any map type. The following table summarizes what algorithms (of those implemented in MRPT) fit what situation.
| ↓Observations \ Maps → | Occupancy grid (Class COccupancyGridMap2D) | Point maps (Class CPointsMap) | Landmark map (class depends on SLAM method) | Graph of pose constraints |
| 2D laser scanner (CObservation2DRangeScan) | X | X | ||
| 1D sonar range readings (CObservationRange) | X | X | X | |
| Features / Landmarks (SLAM method-dependent) | X | X | X | |
| Range-only sensors (CObservationBeaconRanges) | X | X | X | |
| Relative poses | X | X | X |
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