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This package introduces the concept of optimizing target shape to remove pose ambiguity for LiDAR point clouds. Both the simulation and the experimental results confirm that by using the optimal shape and the global solver, we achieve centimeter error in translation and a few degrees in rotation even when a partially illuminated target is placed 30 meters away!

Home Page: https://arxiv.org/abs/2109.01181

License: GNU Affero General Public License v3.0

MATLAB 99.27% Objective-C 0.38% M 0.35%
robotics detection target optimal lidar markers point-clouds fiducial-markers cassie lidar-targets

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global_pose_estimation_for_optimal_shape's Issues

Inquery about the convexity

Hello, your work is really wonderful.
But I'm a bittle of confused, may I ask why you choose to keep convexity when optimize the shape?

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