# rf2o_laser_odometry
Estimation of 2D odometry based on planar laser scans. Useful for mobile robots with innacurate base odometry.
RF2O is a fast and precise method to estimate the planar motion of a lidar from consecutive range scans. For every scanned point we formulate the range flow constraint equation in terms of the sensor velocity, and minimize a robust function of the resulting geometric constraints to obtain the motion estimate. Conversely to traditional approaches, this method does not search for correspondences but performs dense scan alignment based on the scan gradients, in the fashion of dense 3D visual odometry.
Its very low computational cost (0.9 milliseconds on a single CPU core) together whit its high precission, makes RF2O a suitable method for those robotic applications that require planar odometry.
For full description of the algorithm, please refer to: **Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach. ICRA 2016** Available at: http://mapir.isa.uma.es/work/rf2o
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第十五届智能车竞赛ROS组仿真.zip
共61个文件
launch:12个
yaml:7个
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第十五届智能车竞赛ROS组仿真.zip
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第十五届智能车竞赛ROS组仿真.zip (61个子文件)
racecar_ZJ-master
src
CMakeLists.txt 50B
racecar_description
CMakeLists.txt 6KB
urdf
racecar.urdf.xacro 19KB
sensors
imu.xacro 2KB
lidar.xacro 2KB
camera.xacro 2KB
package.xml 3KB
meshes
S1030-0315.dae 8.69MB
launch
ZJ_play.launch 2KB
racecar_rviz.launch 271B
ZJ_hector_mapping.launch 595B
includes
move_base_params.yaml 348B
amcl.launch.xml 3KB
global_costmap_params.yaml 938B
base_global_planner_params.yaml 363B
local_costmap_params.yaml 862B
ZJ_play_noteb_min.launch 2KB
rebuild_map.launch 133B
racecar.launch 3KB
ZJ_play_noteb.launch 2KB
ZJ_play_noteb_max.launch 2KB
model
220X38cm--起点.jpg 1024KB
220X38cm--终点.jpg 1.1MB
rviz
racecar_mapping.rviz 11KB
racecar_urdf.rviz 13KB
world
racetrack1.world 59KB
racetrack3.world 194KB
racetrack.world 78KB
config
racecar_control.yaml 1KB
rf2o_laser_odometry
include
rf2o_laser_odometry
CLaserOdometry2D.h 5KB
CMakeLists.txt 2KB
src
CLaserOdometry2DNode.cpp 9KB
CLaserOdometry2D.cpp 30KB
LICENSE 34KB
package.xml 2KB
launch
rf2o_laser_odometry.launch 2KB
README.md 1KB
simple_layers
include
simple_layers
simple_layer.h 984B
CMakeLists.txt 7KB
src
simple_layer.cpp 2KB
package.xml 3KB
costmap_plugins.xml 258B
zj_pkg
CMakeLists.txt 7KB
src
ZJ_controller_cmd.py 3KB
ZJ_play.py 6KB
pub_point.py 1KB
ZJ_play_noteb_min.py 6KB
ZJ_keyboard_remote.py 2KB
ZJ_play_noteb_max.py 6KB
ZJ_play_noteb.py 6KB
package.xml 3KB
teb_local_planner_tutorials
zj_hector
CMakeLists.txt 7KB
map
map_runways.pgm 4MB
map_runways.yaml 185B
map_runway.pgm 4MB
map_runway.yaml 175B
package.xml 3KB
launch
hector_slam.launch 174B
geotiff_mapper.launch 1KB
hector_mapping.launch 2KB
ss.md 37B
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