weihaotobe94 / laserslam Goto Github PK
View Code? Open in Web Editor NEWA simple laser lidar SLAM, the code is organized by matlab.
A simple laser lidar SLAM, the code is organized by matlab.
运行方式: 将所有的文件包括(new_laser_data.mat)数据clone到本地目录,在matlab中打开main.m文件,点击运行即可看到运行效果 参考简介:代码介绍(https://zhuanlan.zhihu.com/p/51617565) matlab下bag文件数据提取(https://zhuanlan.zhihu.com/p/51577331) 1.SetLidarParameters.m 作用:设置激光雷达的扫描参数(扫描角度范围,扫描距离范围,角度增量等) 2.ReadAScan.m 作用:将激光雷达数据从极坐标转化为以机器人为中心的笛卡尔坐标(pol2cart) 3.Initialize.m 作用:第一次数据处理,把扫描数据scan从局部坐标 通过位姿pose 转换为全局地图map坐标(points和keypoints信息) 4.Transform.m 作用:把局部坐标转化为全局坐标(旋转和平移) 5.ExtractLocalMap.m 作用:在全局地图中找到当前激光数据附近一米距离的的点为局部地图 6.OccuGrid.m 作用:根据局部地图点集创建栅格地图(返回值为翻转后的栅格地图) 7.AddKeyScan.m 作用:为地图map加入新的数据(增量式hits>1.1) 8.DiffPose.m 作用:求位姿差 9.FastMatch.m 作用:根据当前位姿的栅格地图 优化预测的下一位姿 使下一位姿的栅格地图与当前位姿的栅格地图达到最大的重合度 10.PlotMap.m 作用:绘制地图、路径、雷达扫描线(每次都清空)
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