Laser2Og
[Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX]

Generates Occupancy Grid cell likelihoods from raw range scans. More...

Generates Occupancy Grid cell likelihoods from raw range scans.

Provides

• orca_interface_home
• orca_interface_status

Requires

• orca_interface_localise2d [Laser2Og.Requires.Localisation]
• orca_interface_ogfusion [Laser2Og.Requires.OgFusion]
• orca_interface_rangescanner2d [Laser2Og.Requires.Observations]

Operation

This component generates OgCellLikelihood sequences using range scans from a globally localized range scanner.

Note: can NOT generate likelihoods if orca_interface_localise2d interface contains more than 1 hypothesis.

Configuration

• Laser2Og.Config.Sensor.Size (int)
  • Number of elements in sensor model
  • Default: 101
• Laser2Og.Config.Sensor.OccupMax (double)
  • Default: 0.575
• Laser2Og.Config.Sensor.EmptyMax (double)
  • Default: 0.425
• Laser2Og.Config.Sensor.RangeStDev (double) [m]
  • Range standard deviation
  • Default: 0.1
• Laser2Og.Config.Sensor.RangeStDevMax (double) [m]
  • Maximum range standard deviation
  • Default: 3.0
• Laser2Og.Config.Sensor.PosStDevMax (double) [m]
  • Maximum tolerated position uncertainty
  • Default: 5.0
• Laser2Og.Config.Sensor.HedStDevMax (double) [deg]
  • Maximum tolerated heading uncertainty
  • Default: 5.0

Authors

• Matthew Ridley
• Tobias Kaupp