# laser_line_extraction

Go to the source link to view the article. You can view the picture content, updated content and better typesetting reading experience. If the link is broken, please click the button below to view the snapshot at that time.

laser_line_extraction | 沉默杀手

laser_line_extraction
2022-07-03|激光SLAM雷达|
Word count: 559|Reading time: 2 min

`Split-and-Merge``Incremental`由于处理速度和准确性而表现最好。 对于实时的应用，`Split-and-Merge`是最佳选择，因为处理速度很快。它也是地图定位问题的第一选择，此时`FalsePos`不太重要。但是，算法实现的细节对应用是很重要的。

• bearing_std_dev (default: 0.001): The standard deviation of bearing uncertainty in the laser scans (rad).

• min_split_dist (default: 0.05): When performing “split” step of split and merge, a split between two points results when the two points are at least this far apart (m) 线段split的阈值，过大时很多线段被合并成一条，过小时，出现很多碎短的线段

• outlier_dist (default: 0.05): Points who are at least this distance from all their neighbours are considered outliers (m).

• range_std_dev (default: 0.02): The standard deviation of range uncertainty in the laser scans (m).

``float32 radiusfloat32 anglefloat32[4] covariancefloat32[2] startfloat32[2] end``
• start和end分别是这个线段的起点坐标和终点坐标。
• angle: 原点到直线的垂线的角度，角度以机器人为坐标系计算，范围是-PI~PI

line_extractor

`line_extractor`发布:

``camera_line_markers     [visualization_msgs/Marker]camera_line_segments    [laser_line_extraction/LineSegmentList]line_markers            [visualization_msgs/Marker]line_segments           [laser_line_extraction/LineSegmentList]taimi/line_center_point       [nav_msgs/Odometry]taimi/line_wall_position      [geometry_msgs/PoseStamped]taimi/waste_aruco_position    [geometry_msgs/PoseStamped]``
``camera1/scan [sensor_msgs/LaserScan]shelf_lifter/cmd [std_msgs/String]sick_tim551_scan [sensor_msgs/LaserScan]tf [tf2_msgs/TFMessage]tf_static ``