mbicp
[Drivers]
Collaboration diagram for mbicp:
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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
- none
- Provides
- Requires
- position2d : source of pose and velocity information
- laser : Pose-stamped laser scans (subtype PLAYER_LASER_DATA_SCANPOSE)
- Configuration requests
- none
- Configuration file options
- max_laser_range (float)
- Default: 7.9 m
- Maximum laser range.
- laserPose_x (float)
- Default: 0.16 m
- Offset of the laser on the edge x (in the robot's system of reference).
- laserPose_y (float)
- Default: 0.0 m
- Offset of the laser on the edge y (in the robot's system of reference).
- laserPose_th (float)
- Default: 0.0 rad
- Offset of the laser on th (in the robot's system of reference).
- radial_window (float)
- Default: 0.3 m
- Maximum distance difference between points of different scans. Points with greater Br cannot be correspondent (eliminate spurius asoc.).
- angular_window (float)
- Default: 0.523333333 rad
- Maximum angle diference between points of different scans. Points with greater Bw cannot be correspondent (eliminate spurius asoc.).
- L (float)
- Default: 3.00
- Value of the metric. When L tends to infinity you are using the standart ICP. When L tends to 0 you use the metric (more importance to rotation), when L tends to infinity you are using Euclidian metric.
- laserStep (integer)
- Default: 1
- Selects points of each scan with an step laserStep. When laserStep=1 uses all the points of the scans When laserStep=2 uses one each two ... This is an speed up parameter.
- MaxDistInter (float)
- Default: 0.5 m
- Maximum distance to interpolate between points in the ref scan. Consecutive points with less Euclidean distance than MaxDistInter are considered to be a segment.
- filter (float)
- Default: 0.95
- In [0,1] sets the % of asociations NOT considered spurious. E.g. if filter=0.9 you use 90% of the associations. The associations are ordered by distance and the (1-filter) with greater distance are not used. This type of filtering is called "trimmed-ICP".
- ProjectionFilter (int)
- Default: 1
- Eliminate the points that cannot be seen given the two scans (see Lu&Millios 97). It works well for angles < 45 deg. 1 : activates the filter. 0 : desactivates the filter.
- AsocError (float)
- Default: 0.1
- In [0,1]. Sets the % of minimun associations to run the algorithm. One way to check if the algorithm diverges is to supervise if the number of associatios goes below a thresold. When the number of associations is below AsocError, the main function will return error in associations step.
- MaxIter (int)
- Default: 50
- Sets the maximum number of iterations for the algorithm to exit. The more iterations, the more chance you give the algorithm to be more accurate.
- errorRatio (float)
- Default: 0.0001 m
- In [0,1] sets the maximum error ratio between iterations to exit. In iteration K, let be errorK the residual of the minimization. Error_th=(errorK-1/errorK). When error_th tends to 1 more precise is the solution of the scan matching.
- IterSmoothConv (int)
- Default: 2
- Number of consecutive iterations that satisfity the error criteria (the two above criteria) (error_th) OR (errorx_out && errory_out && errt_out). With this parameter >1 avoids random solutions and estabilices the algorithm.
- errx_out (float)
- Default: 0.0001 m
- Minimum error in x of the asociations to exit. In each iteration, the error is the residual of the minimization in each component. The condition is (errorKx<errx_out && errorKx<erry_out && errorKx<errt_out). When errorK tends to 0 the more precise is the solution of the scan matching
- erry_out (float)
- Default: 0.0001 m
- Minimum error in x of the asociations to exit. In each iteration, the error is the residual of the minimization in each component. The condition is (errorKx<errx_out && errorKx<erry_out && errorKx<errt_out). When errorK tends to 0 the more precise is the solution of the scan matching
- errt_out (float)
- Default: 0.0001 m
- Minimum error in x of the asociations to exit. In each iteration, the error is the residual of the minimization in each component. The condition is (errorKx<errx_out && errorKx<erry_out && errorKx<errt_out). When errorK tends to 0 the more precise is the solution of the scan matching
- 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 )