slam 基础之粒子滤波

曾经终败给现在 2022-12-06 12:56 145阅读 0赞

一直在用，也总是知其然而不知其所以然。一些很常规的基础总是会温故知新。

粒子滤波的 算法流程图：

![pf201][]

所长的推导系列：

[Particle Filter Tutorial 粒子滤波：从推导到应用（一）][Particle Filter Tutorial]

[Particle Filter Tutorial 粒子滤波：从推导到应用（二）][Particle Filter Tutorial 1]

[Particle Filter Tutorial 粒子滤波：从推导到应用（三][Particle Filter Tutorial 2]

[无人驾驶8： 粒子滤波定位(优达学城项目)][8_]

slam中的数学基础

1.  泰勒展开式：[理解泰勒展开的推导和意义][Link 1]
2.  协方差及协方差矩阵：[协方差][Link 2]，[协方差矩阵][Link 3]
3.  牛顿法：注意链接右边的几幅图，让人更容易懂[牛顿法][Link 4]
4.  雅各比矩阵和海赛矩阵：[Jacobi’an&&Hessian][Jacobi_an_Hessian]
5.  最小二乘法：[最小二乘][Link 5]
6.  图优化：[高博][Link 6]，[所长][Link 7]

[pf201]: /images/20221123/4fbd60f7d3594ae9859b02601b36a9e6.png
[Particle Filter Tutorial]: https://blog.csdn.net/heyijia0327/article/details/40899819
[Particle Filter Tutorial 1]: https://blog.csdn.net/heyijia0327/article/details/40929097
[Particle Filter Tutorial 2]: https://blog.csdn.net/heyijia0327/article/details/41122125
[8_]: https://blog.csdn.net/luteresa/article/details/104577242?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.add_param_isCf&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.add_param_isCf
[Link 1]: https://www.zhihu.com/question/25627482/answer/32060408
[Link 2]: https://blog.csdn.net/northeastsqure/article/details/50163031
[Link 3]: https://blog.csdn.net/beechina/article/details/51074750
[Link 4]: https://baike.baidu.com/item/%E7%89%9B%E9%A1%BF%E6%B3%95/1384129
[Jacobi_an_Hessian]: http://jacoxu.com/jacobian%E7%9F%A9%E9%98%B5%E5%92%8Chessian%E7%9F%A9%E9%98%B5/
[Link 5]: https://wenku.baidu.com/view/74f5f9f4fad6195f312ba6e9
[Link 6]: https://www.cnblogs.com/gaoxiang12/p/5244828.html
[Link 7]: https://blog.csdn.net/heyijia0327/article/details/47686523