mbicp

ScanMatching. More...

ScanMatching.

This driver implements the metric-based ICP scan-matching algorithm.

J. Minguez, L. Montesano, and F. Lamiraux, "Metric-based iterative closest point scan matching for sensor displacement estimation," IEEE Transactions on Robotics, vol. 22, no. 5, pp. 1047-1054, 2006.

Compile-time dependencies
Provides
Requires
Configuration requests
Configuration file options
Example
driver
(
  name "mbicp"
  provides ["position2d:1"]
  requires ["position2d:0" "laser:1"]

  max_laser_range		7.9
  laserPose_x			0.16
  laserPose_y			0
  laserPose_th			0

  radial_window  	       	0.3
  angular_window 	       	0.523333333

  L		       		3.00
  laserStep	       		1
  MaxDistInter	       		0.5
  filter 	       		0.95
  ProjectionFilter	       	1
  AsocError	      		0.1
  MaxIter	       		50

  errorRatio	       		0.0001
  errx_out	       		0.0001
  erry_out	       		0.0001
  errt_out	       		0.0001
  IterSmoothConv 	       	2
)

Author:
Javier Minguez (underlying algorithm)