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kosnark created page: vise authored by Karel Košnar's avatar Karel Košnar
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...@@ -26,19 +26,19 @@ AprilTag is encapsulated into the ros packages which is part of this repository. ...@@ -26,19 +26,19 @@ AprilTag is encapsulated into the ros packages which is part of this repository.
Explanation of the library usage Explanation of the library usage
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###RTabMap ### RTabMap
RTab Map is a Simultaneous Localization and Mapping (SLAM) library making use of RGB-D sensors. RTab Map is a Simultaneous Localization and Mapping (SLAM) library making use of RGB-D sensors.
It can utilize different kinds of sensor (kinects, zed camera etc). It can utilize different kinds of sensor (kinects, zed camera etc).
It is used to compute the relative movement of the platform. It is used to compute the relative movement of the platform.
In current implementation only the speed (3 linear and 3 angular components) are utilized. In current implementation only the speed (3 linear and 3 angular components) are utilized.
###Kalman Filter ### Kalman Filter
Extended Kalman filter is used to filter and smooth the speed estimation of the platform provided by RTab Map library. Extended Kalman filter is used to filter and smooth the speed estimation of the platform provided by RTab Map library.
The position and speed provided by RTabMap is quite noisy and the position itself can vary in successive steps for more than 5 cm. The position and speed provided by RTabMap is quite noisy and the position itself can vary in successive steps for more than 5 cm.
The speed is therefore filtered by Extended Kalman filter. The speed is therefore filtered by Extended Kalman filter.
The robot_localization ros package needs the configuration file which is located at .... The robot_localization ros package needs the configuration file which is located at ....
###Freenect ### Freenect
Freenect is open source library to get data from the Microsoft Kinnect sensor. Freenect is open source library to get data from the Microsoft Kinnect sensor.
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