UditSinghParihar/README.md

Created September 5, 2019 02:14

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Comparison of trajectory optimization using different algorithms

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    Following are the results of noisy trajectory optmization in g2o using Cauchy Cost Function vs DCS Algorithm.

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UditSinghParihar commented Sep 5, 2019 •

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Left : Cauchy Algorithm (Kernel width = 1) and Right : DCS Algorithm (Kernel width = 1).
Orange color trajectory is the output from optimization.
Manhattan constraints on the left side of the graph has high noise, which are successfully detected by DCS Algorithm and turned off in optimization, while Cauchy Algorithm fails to detect them as faulty constraints, so it used them in optmization.
Left : G2o optimized with Cauchy Algorithm and Right : 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.

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