Ricardo B. Sousa PhD Thesis: 2D Laser-Only Tracker Dirt Cleaner (Version 1.0) (noisy data 2) скачать в хорошем качестве

Ricardo B. Sousa PhD Thesis: 2D Laser-Only Tracker Dirt Cleaner (Version 1.0) (noisy data 2)

This video represents a 2D pose tracker using the laser odometry estimation of the robot pose. Work in the scope of the PhD internship at Sapienza Università di Roma with Prof. Dr. Giorgio Grisetti ( https://sites.google.com/dis.uniroma1... ). This tracker only considers a single keyframe, instead of a sliding window approach. However, the keyframe represents a local map that is being continuously updated to remove dynamic elements and update the map accordingly. Left window: rqt with the plot of the inliers ratio of the matcher ( using the SRRG Solver for error factor optimization with Gauss-Newton: https://gitlab.com/srrg-software/srrg... ). Center windows: kuka_odom_wh.rviz: results of accumulating the point clouds of a 2D laser scanner assuming wheeled odometry-only pose estimation; kuka_odom_laser.rviz: results of accumulating the point clouds of a 2D laser scanner assuming 2D laser scanner odometry-only pose estimation. Right window: OpenGL-based visualization of the matching between the moving point cloud and the fixed local map (red = inliers, blue = outliers, and grey points = suppressed). Additional observations: the sensor data has some noise and its sampling frequency is low... the dataset has several very long loops... PhD Candidate Ricardo B. Sousa (0000-0003-4537-5095) ( https://sousarbarb.github.io/ ) Supervisor at Sapienza: Prof. Dr. Giorgio Grisetti (0000-0002-8038-9989), Sapienza Università di Roma Supervisors at FEUP / INESC TEC: Prof. Dr. António Paulo Moreira (0000-0001-8573-3147), FEUP & INESC TEC Senior Researcher Héber M. Sobreira, PhD (0000-0002-8055-1093), INESC TEC Prof. Dr. Manuel F. Silva (0000-0002-0593-2865), ISEP & INESC TEC Hosting Faculty: Faculty of Engineering of the University of Porto (FEUP) ( https://sigarra.up.pt/feup/en/ ) Hosting Institution: CRIIS - Centre for Robotics in Industry and Intelligent Systems ( https://www.inesctec.pt/en/centres/criis ) from INESC TEC - Institute for Systems and Computer Engineering, Technology and Science ( https://www.inesctec.pt/en )