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Laser2Og
[ComponentsStand-Alone ComponentsIceBox ServicesC++LinuxQNX]

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

Requires

laser2og.png

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

Note: can NOT generate likelihoods if 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
 

Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)


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