int main(int argc, char **argv) { ros::init(argc, argv, "laserOdometry"); ros::NodeHandle nh; /* * 设定里程计的帧率(每跳过skipFrameNum帧采样1帧) */ nh.param<int>("mapping_skip_frame", skipFrameNum, 2); printf("Mapping %d Hz \n", 10 / skipFrameNum); // 从scanRegistration订阅...
RF2O_Laser_Odometry原理 一、引言 激光雷达里程计(Laser Odometry, LO)是无人驾驶、机器人等领域中常用的定位技术之一。它通过激光雷达扫描获取环境信息,并利用这些信息估计机器人相对于初始位置的位姿变化。然而,传统的LO方法通常假设扫描数据在全局范围内是稀疏的,这使得它们在复杂、密集的环境中表现不佳。为了解决...
scanRegistration:对原始点云进行预处理,计算曲率,提取特征点 laserOdometry:对当前sweep与上一次sweep进行特征匹配,计算一个快速(10Hz)但粗略的位姿估计 laserMapping:对当前sweep与一个局部子图进行特征匹配,计算一个慢速(1Hz)比较精确的位姿估计 transformMaintenance:对两个模块计算出的位姿进行融合,得到最终的精确地位...
说起了rf2o_laser_odometry的工作原理也很简单,就是利用相邻两帧雷达数据匹配得到里程位移量。 3.1下载rf2o_laser_odometry源码 #依然是将rf2o_laser_odometry下载到ROS工作空间 cd catkin_ws/src/ git clone https://github.com/MAPIRlab/rf2o_laser_odometry.git ...
srf_laser_odometry Robust Planar Odometry Based on Symmetric Range Flow and Multi-Scan Alignment This pkgs offers a fast and reliable estimation of 2D odometry based on planar laser scans. SRF is the continuation of RF2O, a fast and precise method to estimate the planar motion of a lidar fr...
forked fromMAPIRlab/rf2o_laser_odometry NotificationsYou must be signed in to change notification settings Fork0 Star1 Code Pull requests Actions Projects Security Insights Additional navigation options Files master include launch src CMakeLists.txt ...
Robust Planar Odometry Based on Symmetric Range Flow and Multi-Scan Alignment - srf_laser_odometry/src/laser_odometry_refscans.h at d62476a00ef8bf819b3d26bd70ff20085a39f37e · xiangli0608/srf_laser_odometry
Roy. Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments. In SPIE Unmanned Systems Tech. XI, 2009.M. W. Achtelik, A. Bachrach, R. He, S. Prentice, and N. Roy, "Stereo Vision and Laser Odometry for Autonomous Helicopters in GPS- denied Indoor ...
We design a scheme for laser-inertial odometry and mapping with bundle adjustment (BA-LIOM),which can greatly mitigate the problem of undesired ground warp... R Li,X Zhang,S Zhang,... - 《Robotica International Journal of Information Education & Research in Robotics & Artificial Intelligence》...
rf2o_laser_odometry / LICENSE GNU General Public License v3.0 Permissions of this strong copyleft license are conditioned on making available complete source code of licensed works and modifications, which include larger works using a licensed work, under the same license. Copyright and license ...