laserfeature

Extract line/corner features from a laser scan. More...

Extract line/corner features from a laser scan.

The laserfeature driver extracts lines and corners from a laser data scan, and returns the 2-d positions of each line segment through the Fiducial interface.

laserfeature uses an EKF to segment the scan into line segments, then does a best-fit for each segment. The EKF is based on the approach by Stergios Romelioutis.

Compile-time dependencies
Provides
Configuration requests
Requires
Configuration file options
Example
driver
(
  name "laserfeature"
  provides ["fiducial:0"]
  requires ["laser:0"]

  model_range_noise 0.05
  angle_range_noise 10
  sensor_range_noise 0.05
  segment_range 0.05
  merge_angle 10
  discard_length 1.00
  min_segment_count 4

)
Author:
Andrew Howard, Rich Mattes