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reflector_ekf_slam
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laser reflector and EKF
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reflector_ekf_slam
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# reflector_ekf_slam 这是一个基于EKF的激光反光板方案,整个框架基于ROS开发的,对应的CSDN博客[一起做激光反光板系列](https://blog.csdn.net/yeluohanchan/article/details/109620511)中推导的公式。 # 已添加功能 (1)ROS消息的接收:轮速计和激光点云 (2)ROS消息的发送:反光板地图、实时位姿、历史轨迹、**栅格地图、匹配点云** (3)2D和3D激光反光板检测与匹配 (4)EKF公式的实现 (5)反光板地图的保存与读取 (6)**Scan-Submap匹配,栅格地图的创建与保存** (7)支持不同的里程计模型:diff(差速模型)和omni(全向模型) (8)360度2D激光雷达激光反光板检测:考虑0度附近反光板无法检测情况 (9)加入2D激光的畸变校正 (10)开源测试数据集 # 后续待添加的功能 (1)滑窗类EKF方案:状态空间维护滑窗内多帧的位姿 (2)ICP方案的使用:前后帧ICP,当做观测。考虑:libPointMatcher、点线csm、scan-submap匹配的方式 (3)特征的使用:直角点、线段,当做观测 (4)FEJ的使用:First-Estimates Jacobian (5)激光雷达相对于车体中心的外参放到状态空间内进行优化