This project forked from renjingc/street-sweeper
室内大型扫地车定位与导航项目
基于视觉和激光的移动机器人的室内定位导航，对地板砖的一个检测，结合imu和里程计进行定位。采用到类似扫地机器人的全覆盖算导航规划法。
使用lsd+Hough+ransac检测
使用颜色+LBP进行错误剔除
轮式里程计+IMU+线的角度定位+地板砖定位
定位误差在3mm左右
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