資源簡介
標(biāo)準(zhǔn)數(shù)據(jù)集是由澳大利亞地面機(jī)器人中心(提供的,由其學(xué)者分別在大學(xué)停車場和維多利亞公園中駕駛圖中所示的自主地面車輛進(jìn)行實(shí)地采集得到,分別稱為“”停車場數(shù)據(jù)集和“”維多利亞公園數(shù)據(jù)集。

代碼片段和文件信息
%?based?on?range?and?intensity?values?from?SICK?scanner?determine?center?of?landmark.
%?Landmarks?are?assumed?to?be?reflectors?and?therefore?generate?a?high?intensity?value.
function?[landmarkRangelandmarkBearing]=getLandmarkCenter(laserintensity)
????landmarkRange?=?[];
????landmarkBearing?=?[];
????maxRange?=?30;
????range?=?0;
????bearing?=?0;
????count?=?0;
????for?i=1:361?%?for?i?=?1?to?180?degrees?at?0.5?degree?resolution
????????if(?laser(i)0)
????????????range?=?range?+?laser(i);???%?keep?running?count?of?range?values
????????????bearing?=?bearing?+?i;??????%?keep?running?count?of?bearing?values
????????????count?=?count?+?1;??????????%?keep?running?count?to?calculate?average
????????
????????????%?check?next?3?intensity?values...if?all?zero?then?calculate?landmark?center
????????????bound?=?361?-?i;
????????????val_1?=?min(1bound);???????%?if?i=361?then?bound?equals?0
????????????val_2?=?min(2bound);???????%?if?i=360?then?val_1?val_2?&?val_3?all?equal?1...otherwise?val_2=2
????????????val_3?=?min(3bound);???????%?if?i=359?then?val_1=1?val_2?&?val_3?equal?2...otherwise?val_3=3
????????????if(?intensity(i+val_1)==0?&?intensity(i+val_2)==0?&?intensity(i+val_3)==0?||?bound==0)
????????????????range?=?range/count;????????????????????????????%?calculate?range?to?landmark?center
????????????????bearing?=?bearing/count;????????????????????????%?calculate?bearing?to?landmark?center
????????????????bearing?=?(bearing-1)/2*(pi/180);???????????????%?bearing?is?from?0:180?with?0.5?deg?resolution
????????????????landmarkRange?=?[landmarkRange?range];??????????%?form?1D?array?of?range?vals?for?every?LM?observed
????????????????landmarkBearing?=?[landmarkBearing?bearing];????%?form?1D?array?of?bearing?vals?for?every?LM?observed
????????????????range?=?0;?bearing?=?0;?count?=?0;??????????????%?reset?all?variables
????????????end????????
????????end
????end
return;
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-11-15?09:25??ekfslam\
?????文件?????1239216??2001-04-29?15:05??ekfslam\aa3_dr.mat
?????文件???????89624??2001-04-29?15:24??ekfslam\aa3_gpsx.mat
?????文件?????5263032??2000-11-01?07:12??ekfslam\aa3_lsr2.mat
?????文件?????????432??2018-10-01?21:35??ekfslam\beac_juan3.mat
?????文件?????2324456??2018-10-01?21:35??ekfslam\data_set.mat
?????文件????????1958??2018-10-01?21:35??ekfslam\getLandmarkCenter.m
?????文件?????????930??2018-10-01?21:35??ekfslam\nearby_LMs.m
?????文件????????2214??2018-10-01?21:35??ekfslam\new_state.asv
?????文件????????1776??2018-10-01?21:35??ekfslam\new_state.m
?????文件?????????273??2018-10-01?21:35??ekfslam\normalizeAngle.m
?????文件????????9237??2018-10-01?21:35??ekfslam\slam.m
?????文件????????2428??2018-10-01?21:35??ekfslam\updateExisting.asv
?????文件????????1731??2018-10-01?21:35??ekfslam\updateExisting.m
?????文件????????2599??2018-10-01?21:35??ekfslam\updateNew.asv
?????文件????????1790??2018-10-01?21:35??ekfslam\updateNew.m
評論
共有 條評論