Collaboration diagram for MRICP:

This is a Map Reference ICP plugin Driver for real time Map building and Localization using Iterative Closest Point laser scan matching and odom correction. Currently The driver is in stable release stage, more modifications might be added later on.

This driver is created to support UTS CAS mobile Platforms. This driver can be quite usefull in a lot of applications where odom correction or matching laser scans is essential. I would appreciate any feedback and recommendations that can lead to improving the performance of this driver.

Compile-time dependencies

The MRICP driver provides the following device interfaces, some of them named:

Supported configuration requests

Configuration file options

Tarek Taha - Centre of Autonomous Systems - University of Technology Sydney

Last updated 12 September 2005 21:38:45