悉尼大学SLAM实验数据MATLAB版

*** laser data: file : aa3_lsr2.mat LASER is a uint16 matrix, 361 columns, N rows. column k corresponds to the range in direction of angle Ak = (k-1)*/2 (in de degrees) the ranges are in CM. ranges higher than 8000 cm are considered 'no reflexion' (infinite distance). TLsr is the time vector, dimm = Nx1. it is uint32 type. then LASER(k,:) is a laser frame, with timestamp TLsr(k). ================================== *** dead-reckoning data: in file aa3_dr.m. variables: speed : in m/secs. steering : in radians. time : in millisecs. speed(k), steering(k) are related to timestamp time(k). do load aa3_dr.mat figure(1) ; clf ; plot(time,speed) ; xlabel('time (ms)') ; ylabel('speed, (m/sec)') ; figure(2) ; clf ; plot(time,steering) ; xlabel('time (ms)') ; ylabel('steering, (rads)') ; ================================== *** gps data. Lo_m : longitude (in meters) La_m : latitude (in meters) timeGps : time in msecs. obs: the gps unit was failing, it is possible to see jumps and regions without gps data. run : clear all; load aa3_gpsx ; plot(Lo_m,La_m,'.') ; ================================== *** run ViewLsr.m to see the laser data (dynamically) =================================== use DetecTrees.m to get the landmarks from the laser frame data. see ViewLsr code to see how to use it. =================================== CAR parameters: (see car.bmp drawing) a : 0.95 m b : 0.5 m H : 0.76 m L : 2.83 m ===================================