1:已知上一时刻的地图m,也是未完成的submap。因为scan to map的过程,就是scan to current submap的过程。 2:submap是栅格地图,这是为了方便匹配。 3:机器人在任意时刻,都能看到map上的所有occupied points。但是,scan不一定能扫描到所有的点。 4:matching的过程,实际上就是把scan的所有扫描数据,映射到当前的subm...
Scan-to-map matching using the Hausdorff distance for robust mobile robot localization 来自 掌桥科研 喜欢 0 阅读量: 110 作者:M Torres-Torriti,A Guesalaga 摘要: This paper presents a robust method for localization of mobile robots in environments that may be cluttered and that not necessarily ...
This paper proposes an efficient scan-to-map matching approach based on multi-channel lidar. We firstly advocate the usage of both the lidar reflectance map and the height map, as these two maps contain complementary information. Then, borrowing ideas from the Lucas-Kanade optical flow approach,...
IMLS-SLAM: scan-to-model matching based on 3D dataJean-Emmanuel Deschaud 11 MINES ParisTech, PSL Research University, Centre for Robotics, 60 Bd St Michel 75006 Paris, FranceAbstract—The Simultaneous Localization And Mapping(SLAM) problem has been well studied in the robotics commu-nity, ...
但轮式里程计在静态时是绝对不会漂移的。减小轮子打滑影响的方式之一是在从动轮上增加编码器做里程计。...
Scan matching本来就是个没优化的里程计
Polar Scan Matching is one of the methods of point to point scan matching for Simultaneous Localization and Mapping Application. It works in the original laser polar coordinate system and therefore eliminates the need for an expensive correspondence search as in other scan matching methods by using ...
Scan matching is one of the oldest and simplest methods for occupancy grid based SLAM. The general idea is to find the pose of a robot and update its map simply by calculating the 2-D transformation between a laser scan and its predecessor. Due to its simplicity many solutions were proposed...
addScan(scanMapObj,currScan) adds the specified 2-D lidar scan currScan to the most recent scan of the lidarscanmap object scanMapObj. The function uses scan matching to correlate this scan to the most recent one, then adds the scan to the scanMapObj. example addScan(scanMapObj,curr...
51：将收到的点云数据插入map中 52-54：判断expected_sensor_ids_的个数和id_to_pending_data_的个...