Hi everybody(adsbygoogle = window.adsbygoogle || []).push({});

I am working on SLAM, the localization problem in robotics. I have a trajectory generated from my odometry sensors that is composed of a set of points ( O ). ( S ) is the starting point end ( E ) is the ending point of the trajectory. These points can define a polyline

S[itex]\mapsto[/itex]O[itex]\mapsto[/itex]O[itex]\longmapsto[/itex]E

the arrows represent the transactions which are known and are not identical. The drawing is a 1D case but I am working on 3D.

Say I correct the ending ( E ) and move it forward a certain amount [itex]\delta[/itex].

S[itex]\mapsto[/itex]O[itex]\mapsto[/itex]O[itex]\longmapsto[/itex][itex]\stackrel{\delta}{\rightarrow}[/itex]E

I know that the correction of E affects the rest of the points but I don't know how. So I need to suppose an intelligent way to reshape the rest of the trajectory, in this case to stretch it. There's not a specific way to define "intelligent", I just would like to know if there's a known way to apply the correction to the whole trajectory in a way that make sense.

Maybe someone that works with computer graphics knows a simple idea?

some people suggested the use of springs but for a different case which you cannot easily apply to this case.

thanks and regards

S.

**Physics Forums | Science Articles, Homework Help, Discussion**

Join Physics Forums Today!

The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

# Polyline reshaping

Can you offer guidance or do you also need help?

Draft saved
Draft deleted

**Physics Forums | Science Articles, Homework Help, Discussion**