This project forked from liuzhenboo/2d-slam-by-nonlinear-optimization
基于非线性优化的2Dslam仿真，实践前端数据关联，滑动窗口法，LM优化，FEJ。
License: GNU General Public License v3.0
非线性优化，LM迭代优化，滑动窗口，边缘化，FEJ
技术文档： Reports
注释掉slidewindow_graph.py中函数def Update(self, measure):里的：
self.Optimize_graph()
滑窗之外的观测直接舍去，不使用先验信息。 注释掉注释掉slidewindow_graph.py中函数def Optimize_graph(self):里的：
self.Get_prior()
滑窗之外的观测信息不直接舍去，利用舒尔补转换成约束矩阵，形成先验信息，在优化中使用。这里使用的边缘化方案，可以保证FEJ。
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