- Following are the results of noisy trajectory optmization in g2o using
Cauchy Cost Function
vsDCS Algorithm
.
Created
September 5, 2019 02:14
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Comparison of trajectory optimization using different algorithms
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Left : Cauchy Algorithm (Kernel width = 1)
andRight : DCS Algorithm (Kernel width = 1)
.Orange color trajectory is the output from optimization.
DCS Algorithm
and turned off in optimization, whileCauchy Algorithm
fails to detect them as faulty constraints, so it used them in optmization.Left : G2o optimized with Cauchy Algorithm
andRight : G2o optimized with DCS algorithm
:4 . Using
DCS Algorithm
with star shaped trajectories (highly distorted) does not lead to any optimization and it just simply turns off all the loop closing manhattan constraints.