图3. 占用栅格地图构建算法 (http://ais.informatik.uni-freiburg.de/teaching/ws13/mapping/pdf/slam10-gridmaps.pdf) 算法实现 我们设计一个实验来实现这个算法,使用的机器人是我们自己研发的Falconbot,配备一台北洋UST-10LX激光雷达,每个轮子都配有编码器。 Falconbot 看一下建图的前提条件:观测和机器人位姿...
voidoccupancyGridMapping(doubleRobotx,doubleRoboty,doubleRobottheta,doublesensorData[]){for(intx=0;x<mapWidth/gridWidth;x++){for(inty=0;y<mapHeight/gridHeight;y++){doublexi=x*gridWidth+gridWidth/2-robotXOffset;doubleyi=-(y*gridHeight+gridHeight/2)+robotYOffset;if(sqrt(pow(xi-Robotx,2)+pow...
Multi-layered:Developed for universal 2.5-dimensional grid mapping with support for any number of layers. Efficient map re-positioning:Data storage is implemented as two-dimensional circular buffer. This allows for non-destructive shifting of the map's position (e.g. to follow the robot) without...
Multi-layered:Developed for universal 2.5-dimensional grid mapping with support for any number of layers. Efficient map re-positioning:Data storage is implemented as two-dimensional circular buffer. This allows for non-destructive shifting of the map's position (e.g. to follow the robot) without...
网络格网地图测绘 网络释义 1. 格网地图测绘 最近,先进的格网计算(Grid Computing)技术已经开始与格网地图测绘(Grid Mapping)相结合,而且必将与时俱进,如虎 … www.sbsm.gov.cn|基于3个网页 释义: 全部,格网地图测绘
自动驾驶运动规划(Motion Planning)》中提到可以使用占位图(Occupancy Grid Map)表示自动驾驶行驶区域的哪些区域被障碍物(如静止的车辆、路中间的石墩子、树木、路肩等)占用,Motion Planning模块会通过查询占位地图避开这些道路障碍物,避免与它们碰撞,从而达到安全驾驶的目的。
{name:'name',mapping:0}, {name:'descn',mapping:2} ]} ); 2、想让表格拥有斑马线的效果:加上stripeRows:true(默认为false) var grid = Ext.create('Ext.grid.Panel', { renderTo:'grid', stripeRows:true, store : store, columns : columns ...
function myMap = occGridMapping(ranges, scanAngles, pose, param) resol = param.resol; % the number of grids for 1 meter. myMap = zeros(param.size); % the initial map size in pixels origin = param.origin; % the origin of the map in pixels ...
(i.e., to explicitly model free space). Landmark-based maps have found use predominantly for simultaneous localisation and mapping (SLAM), in which a minimal number of points in space that are recognised with high certainty can be used to efficiently localise the robot. These, however, rely...
Multi-layered:Developed for universal 2.5-dimensional grid mapping with support for any number of layers. Efficient map re-positioning:Data storage is implemented as two-dimensional circular buffer. This allows for non-destructive shifting of the map's position (e.g. to follow the robot) without...