li321964

Serial_Node.tar.gz

实现机器人底盘与上层ROS通信协议功能,成功接收机器人底盘里程计,IMU, 电压等传感器信息。并实现将里程计和IMU通过发布话题方式发布到ROS中,方便系统其他节点订阅使用。

urg_node.tar.gz

URG雷达驱动软件，通过ROS工程编译，通过运行roslaunchurg_nodeurg_lidar.launch，便可发布/scan消息

Visual_Inertial Monocular SLAM with Map Reuse.pdf

Abstract—InrecentyearstherehavebeenexcellentresultsinVisual-InertialOdometrytechniques,whichaimtocomputetheincrementalmotionofthesensorwithhighaccurac

Efficient Sparse Pose Adjustment for2D Mapping.pdf

Posegraphshavebecomeapopularrepresentationforsolvingthesimultaneouslocalizationandmapping(SLAM)problem.Aposegraphisasetofrobotposesconnectedbynonlinea

Keyframe_Based Visual_Inertial Odometry Using Nonlinear Optimization.pdf

Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics

Robust Visual Inertial Odometry Using a Direct EKF_Based Approach.pdf

Abstract— In this paper, we present a monocular visual-inertial odometry algorithm which, by directly using pixel intensity errors of image patches, a