Development plan

NOTE: This section, as the work advances, should gradually move up to the previous section and become a stable documentation.

Initial development

Initially, and to make it simple to develop, each abstract contains only one derived class, as follows:

• jafar::rtslam::MapAbstract
  • jafar::rtslam::MapEKF : classical local map with fixed origin (robot moves away from origin, all landmarks are referenced to the fixed origin).

• jafar::rtslam::RobotAbstract
  • jafar::rtslam::RobotConstantVelocity : a 3D constant velocity model.

• jafar::rtslam::SensorAbstract
  • jafar::rtslam::SensorPinHole : A pin-hole perspective camera, with radial distorsion and correction models.

• jafar::rtslam::LandmarkAbstract
  • jafar::rtslam::LandmarkAnchoredHomogeneousPoint : Anchored homogeneous 3D points AHP (x_0,y_0,z_0,x,y,z,w).

• jafar::rtslam::ObservationAbstract : Please note that Observations depend always on two types of objects: sensor type and landmark type.
  • jafar::rtslam::ObservationPinHolePoint : observe a point from a pin-hole sensor. Derive this class still once more to specify which kind of point.
    • jafar::rtslam::ObservationPinHoleAnchoredHomogeneousPoint : observe AHP from a pin-hole sensor.

This sets the initially indispensable classes to start working with vision sensors and Anchored homogeneous point landmarks that allow undelayed initialization.

Next important developments

A second set of derivations should perform some additional and useful things such as a few new motion, sensor and landmark models. For the landmarks, we must start defining re-parametrization methods. We should also introduce the first of the straight line models.

• jafar::rtslam::MapAbstract
  • jafar::rtslam::MapEKFRobocentric : robocentric map where the origin is always brought to the robot pose. This may require the extension of all robot classes with the appropriate re-frame functions.

• jafar::rtslam::RobotAbstract
  • jafar::rtslam::RobotWith2DOdometry : a 3D odometry model with odometry inputs specified in the robot's local 2D plane.
  • jafar::rtslam::RobotInertial : a 3D motion model reading IMU measurements.

• jafar::rtslam::SensorAbstract
  • jafar::rtslam::SensorBarreto : A Barreto-modeled camera, preferably with distorsion and correction models.

• jafar::rtslam::LandmarkAbstract
  • jafar::rtslam::LandmarkEuclideanPoint : Euclidean 3D points EP, (x,y,z).
  • jafar::rtslam::landmarkAnchoredHomogeneousLine : Anchored homogeneous 3D lines AHL3, (x_0,y_0,z_0,x_1,y_1,z_1,w_1,x_2,y_2,z_2,w_2).

• jafar::rtslam::ObservationAbstract : Please note that Observations depend always on two types of objects: sensor type and landmark type.
  • jafar::rtslam::ObservationPinHolePoint : observe a point from a pin-hole sensor. Derive this class still once more to specify which kind of point.
    • jafar::rtslam::ObservationPinHoleEuclideanPoint : observe EP point from a pin-hole sensor.
    • jafar::rtslam::ObservationBarretoAnchoredHomogeneousPoint : observe AHP point from a Barreto sensor.
    • jafar::rtslam::ObservationBarretoEuclideanPoint : observe EP point from a Barreto sensor.
  • jafar::rtslam::ObservationPinHoleLine : observe a line from a pin-hole sensor. Derive this class still once more to specify which kind of line.
    • jafar::rtslam::ObservationPinHoleAnchoredHomogeneousPointLine : observe AHL point from a pin-hole sensor.

Future developments

Further developments could consider building straight line landmark models. Non-anchored landmarks are to be tested with robocentric maps. The list below is not exhaustive, nor it tries to impose the order for future development.

• jafar::rtslam::LandmarkAbstract
  • jafar::rtslam::landmarkAnchoredModifiedPolarPoint : Anchored modified-polar 3D points AMPP3 (x_0,y_0,z_0,x,y,z,w). This is the same as IDP landmarks.
  • jafar::rtslam::landmarkHomogeneousLine : Homogeneous 3D lines HL3 (x_1,y_1,z_1,w_1,x_2,y_2,z_2,w_2).

• jafar::rtslam::ObservationAbstract : Please note that Observations depend always on two types of objects: sensor type and landmark type.
  • jafar::rtslam::ObservationPinHolePoint : observe a point from a pin-hole sensor. Derive this class still once more to specify which kind of point.
    • jafar::rtslam::ObservationPinHoleHomogeneousLine : observe HL from a pin-hole sensor.
    • jafar::rtslam::ObservationPinHoleAnchoredModifiedPolarPoint : observe AMPP from a pin-hole sensor.
    • jafar::rtslam::ObservationBarretoAnchoredModifiedPolarPoint : observe AMPP from a Barreto sensor.
  • jafar::rtslam::ObservationPinHoleLine : observe a line from a pin-hole sensor. Derive this class still once more to specify which kind of line.
    • jafar::rtslam::ObservationBarretoAnchoredHomogeneousLine : observe AHL line from a Barreto sensor.
    • jafar::rtslam::ObservationBarretoHomogeneousLine : observe HL from a Barreto sensor.