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FactorGraph, List<PointCloud> -> OptimizedTrajectory
Insert GICP registration metrics directly as analytical factors in a factor graph to minimize joint multi-scan alignment error.
Problem it solves
Sequential scan-to-scan matching accumulates incremental drift that violates global map consistency.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.