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/external/ceres-solver/examples/
H A Drobot_pose_mle.cc37 // noise odometry readings and noisy range readings of the end of the hallway.
38 // By fusing the noisy odometry and sensor readings this example demonstrates
45 // "--pose_separation" flag, at which pose it receives relative odometry
47 // hallway. The odometry readings are drawn with Gaussian noise and standard
52 // 1) The OdometryConstraint residual, that accounts for the odometry readings
58 // a fixed parameter block size of 1, which is the relative odometry being
60 // between observed and computed relative odometry values are penalized weighted
61 // by the known standard deviation of the odometry readings.
64 // which sums up the relative odometry estimates to compute the estimated
71 // The outputs of the example are the initial values of the odometry an
172 operator ()(const T* const odometry, T* residual) const argument
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