luojianbin2006 / odomlasercalibratool

Extrinsic Calibration of a Odom and 2d Laser

laser-odom_calibration

1. Prerequisites

1. ubuntu 16.04 + ROS Kinetic

2. Eigen3

2. Usage

    cd catkin_ws/src
    git clone https://github.com/MegviiRobot/OdomLaserCalibraTool
    cd ..
    catkin_make
    source devel/setup.bash
    roslaunch example.launch

INPUT:

A rosbag includes laser scan and odometer data(left & right wheels' velocity). Please check the topic name with launch file.

*Note that we use rostopic type geometry_msgs::Vector3Stamped to record odometer's raw data, for other types please modify the code.

OUTPUT:

Extrinsic parameters between LiDAR and odomter(x, y, yaw), intrinsic paramters of odomter(left & right wheels' radius, track between two wheels) and related uncertainty analysis.

e.g.

3. Authors

1. Zhijie WANG, fomer research intern at Megvii, received B.Eng from Beijing University of Posts & Telecommunications, currently a master student in University of Waterloo, contact with <paul dot wangzhijie at outlook dot com> if you have questions with code.

2. Yijia HE, you can find the chinese version in his homepage, if you have any question, please contact <heyijia at megvii dot com>.

3. Xiao Liu, his homepage

4. References

Censi, Andrea, Franchi, Antonio, Marchionni, Luca & Oriolo, Giuseppe (2013). Simultaneous calibration of odometry and sensor parameters for mobile robots. IEEE Transactions on Robotics, 29, 475-492.