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...
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...
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,...
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: 107 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 ...
摘要: This paper presents a grid-based scan-to-map match 关键词: normal distribution Kullback-Leibler divergence mapping grid-map Scan matching 年份: 2016 收藏 引用 批量引用 报错 分享 全部来源 求助全文 Taylor & Francis 国家科技图书文献中心 (权威机构) 相似文献 参考文献...
Google Places, for searching/fuzzy matching locations You need three files to configure the application: config.py: general app/maps configuration options config.js: for setting up mapbox and defining labels data/keys.yml: adding/revoking keys for adding to maps Notation here is <description:exam...
Using aforloop, add scans to the SLAM object. The object uses scan matching to compare each added scan to previously added ones. To improve the map, the object optimizes the pose graph whenever it detects a loop closure. Every 10 scans, display the stored poses and scans. ...
Each plugin has a @search_string that 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. with JSON), as long as your plugin returns a valid table_he...
new void CopyPixels( WICRect prc, uint cbStride, uint cbBufferSize, IntPtr pbBuffer ); I'm calling it like this public static Bitmap FromWic(IWICBitmapSource source) { Guid format; source.GetPixelFormat(out format); PixelFormat gdiFormat = ConversionUtils.GetPixelFormat(format); ...
This paper proposes an efficient scan-to-map matching approach basedoi:10.1007/s10846-017-0717-0Fu, HaoYu, RuiYe, LeiWu, TaoXu, XinSpringer NetherlandsJournal of Intelligent & Robotic Systems