如何实现循环封闭算法以进行弧形
我构建了一个应用程序，该应用程序用于使用AR进行更大规模的外部环境（图像的大小）。 为了提高系统的可靠性，我想实现循环结束算法，该算法允许用户设置FIXPOINT（例如ImageMarker） - ＆gt;四处走动 - ＆GT;返回FIXPOINT。然后，该系统应在返回原始标记位置和新位置之间的偏移（漂移），并在测量点上应用转换，从而将其解释为漂移。
据我所知，这种系统称为“循环封闭”。 我从哪里开始实施这种围栏？方法中有构建吗？我可以研究的特定algortihms的关键字 /名称是什么？
任何帮助将不胜感激。谢谢你！
我尝试了两件事：
在场景中添加一个简单的独立成像机，并检查它是否已经影响了现场的其他杂物 - ＆gt;情况似乎并非如此。当Imagetigr更新其位置时，其他锚的转换似乎不会受到影响。
将所有测量点连接为成像剂的孩子 - ＆gt;显然，这将更新的图像触发转换均匀地应用于所有其他点。但是，在系统的运行时，漂移并不均匀地积累。
I build an app which is used for meassuring outside environments on a larger scale (image the size of a regular personal driveway) using AR.
In order to increase the reliability of the system I want to implement a loop closing algorithm that allows the user to set a fixpoint (e.g. ImageMarker) --> walk around --> return to the fixpoint. The system should then figure out the offset (drift) between the original marker position and the new position upon returning and apply the transformation on the measuring-points in such a way that it accounts for drift.
As far as I know this kind of system is called a "loop closure".
Where do I start with implementing such a thing in ARFoundation? Are there build in methods? What are keywords / names of specific algortihms that I could be researching?
Any help is greatly appreciated. Thank you!
I experimented with two things:
adding a simple standalone imagetrigger to the scene and check if that already has an impact on other ARAnchors in the scene -> this doesnt seem to be the case. The transformations on the other anchors do not seem to be affected when the imagetrigger updates its position.
attaching all points of meassurment as children of the imagetrigger --> this obviously applys the updated image-trigger transformation uniformly onto all other points. However drift is not accumilating uniformly over the runtime of the system.
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