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The Fused Dead-reckoning Data


 
This pseudo-sensor has  fused dead-reckoning estimates.

The fuser uses the inertial and odometer readings to estimate the pose at the time of the laser scans.  The format is timestamp x y z theta phi psi then the next 9 numbers are the covariance of the change in x y and theta since the previous estimate.
 
The units are meters and radians.

I have also adjusted the start position to agree with the map file   This means you can plot this along with the map to see the path in matlab.

Note that the fused data is the location of the SICK scanner and not the robot center so for this data no offsets (time or space) need to be added.

I gave this psuedo-sensor type number 13.
 
 
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 John Folkesson

johnf@nada.kth.se