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

• none

Provides

• fiducial
  • This interface returns a list of features extracted from the laser scan.

Configuration requests

• fiducial interface
  • PLAYER_POSITION2D_REQ_FIDUCAL_GEOM

Requires

• laser
  • Laser scan to find lines in

Configuration file options

• model_range_noise (length)
  • Default: 0.02 m
  • Expected range noise in laser measurements
• model_angle_noise (angle)
  • Default: 10 degrees
  • Expected angular noise in laser measurements
• sensor_range_noise (length)
  • Default: 0.05 m
  • Expected range noise in laser sensor.
• segment_range (length)
  • Default: 0.05m
• merge_angle (angle)
  • Default: 10 degrees
• discard_length (length)
  • Default: 1.00 m
  • Threshold for segment length (smaller segments are discarded)
• min_segment_count (int)
  • Default: 4
  • Minimum amount of segments needed to publish Fiducial data

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