Documented herein is the theoretical reasoning behind solving a matching problem between two homoriented 2D scans, one derived from the robot's physical sensor and one derived by simulating its operation within the map, in a manner that does not require the establishing of correspondences between ...
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...
Each plugin has a@search_stringthat is used to search for matching files, and a couple of regex matchers to extract the needed data. Of course you don't need to use regex, it's also possible to parse the file (e.g. withJSON), as long as your plugin returns a validtable_headerand...
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,...
This approach expounds upon the previous research performed by Emily Carter and Joel Larson described in the paper titled Fundamental Scan Matching Approach to LIDAR Based Localization. This approach uses a RPLIDAR laser scanner to map the vehicle's current environment and utilizes two-dimensional ...
This paper presents a grid-based scan-to-map matching technique for accurate 2D map building. At every acquisition of a new scan, the proposed technique matches the new scan to the previous scan similarly to the conventional techniques, but further corrects the error by matching the new scan ...
RyuUnivKunjinUnivDantanarayanaUnivLakshithaUnivFurukawaUnivTomonariUnivAdvanced Robotics: The International Journal of the Robotics Society of JapanK Ryu, L Dantanarayana, T Furukawa, and G Dissanayake. Grid-based scan-to-map matching for accurate 2D map building. Advanced Robotics, 30(7):431-448,...
Tomonari FurukawaDepartment of Mechanical EngineeringGamini DissanayakeDepartment of Mechanical EngineeringAdvanced RoboticsK Ryu, L Dantanarayana, T Furukawa, and G Dissanayake. Grid-based scan-to-map matching for accurate 2D map building. Advanced Robotics, 30(7):431-448, 4 2016. ISSN 0169-1864. ...