cartographer算法(一)——概述及框架

cartographer概述 cartographerr是google推出的一套基於圖優化的SLAM算法 原文：W. Hess, D. Kohler, H. Rapp, and D. Andor, Real-Time Loop Closure in 2D LIDAR SLAM, in Robotics and Automation (ICRA), 2016 IEEE International C

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