cartographer-project/cartographer

Keep odometry data only as needed for pose graph optimization.

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#1,768 opened on Oct 29, 2020

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enhancementhelp wanted

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Description

Context: When a robot is not moving much, there are few trajectory nodes and odometry data can consume a lot of memory. Right now OptimizationProblem2D and OptimizationProblem3D store a lot of unneeded odometry data.

Idea: The optimization only needs odometry data directly before and after each trajectory node. This means, that all odometry data before the last node of a trajectory can be replaced by the interpolated odometry as used in the optimization problem.

Contributor guide

Research direction
Examine the OptimizationProblem2D and OptimizationProblem3D classes in Cartographer to understand how odometry data is currently stored. Identify where interpolation of odometry data occurs and propose a method to discard older odometry data while preserving only the necessary data before and after each trajectory node.
Tech stack
cpp
Domain
backend
Issue type
Performance
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
4
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3-5 days
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Active
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Clear
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GitC++SLAM
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30