Commit 1eda5cb4 authored by czb5793's avatar czb5793
Browse files

Some small changes

parent 7b2e01cd
......@@ -34,9 +34,9 @@ robot:
motor:
noise:
# Standard deviation of the left wheel's velocity in meters/second while executing a motion command.
left_velocity: 0.0001
left_velocity: 0.001 # 0.0001
# Standard deviation of the right wheel's velocity in meters/second while executing a motion command.
right_velocity: 0.0001
right_velocity: 0.001 # 0.0001
# Configures the sensors used by the robot
sensor:
......@@ -49,7 +49,7 @@ robot:
# Value that is read at minimum range
max_read_value: 3960
# Standard deviation of the distance from the sensors to the detected landmark.
noise: 0.0001
noise: 0.0001 # 0.0001
# Specificies the poses and number of sensors
# Each pose is composed of x position, y position and angle in degrees
poses: [[-0.038, 0.048, 128],
......@@ -164,7 +164,7 @@ slam:
# Configures the sensor noise. The values are currently empirically chosen.
sensor_noise:
# Standard deviation of the detected distance in meters 0.2
detected_distance: 0.1
detected_distance: 0.01
# Standard deviation of the detected angle in degrees
detected_angle: 30
ekf_slam:
......@@ -200,21 +200,21 @@ slam:
# The euclidean distance threshold used in data association
distance_threshold: 0.125
# The number interval of pose-vertices added that the graph optimization is executed.
optimization_interval: 100
optimization_interval: 20
# The timestep interval of executing the frontend part.
frontend_interval: 5
# Configures the motion noise. The values are currently empirically chosen.
motion_noise:
# Standard deviation of the robots x-coordinate in meters after executing a motion command.
x: 0.005
x: 0.004 # 0.005
# Standard deviation of the robots y-coordinate in meters after executing a motion command.
y: 0.005
y: 0.004 # 0.005
# Standard deviation of the robots angle in degrees after executing a motion command.
theta: 1.0 #0.09
# Configures the sensor noise. The values are currently empirically chosen.
sensor_noise:
x: 0.02
y: 0.02
x: 0.01 # 0.02
y: 0.5236 # 0.02
# Configures the evaluation of the SLAM algorithms
evaluation:
......
graph_based_slam_evaluation.png

32.1 KB | W: | H:

graph_based_slam_evaluation.png

30.1 KB | W: | H:

graph_based_slam_evaluation.png
graph_based_slam_evaluation.png
graph_based_slam_evaluation.png
graph_based_slam_evaluation.png
  • 2-up
  • Swipe
  • Onion skin
......@@ -58,20 +58,15 @@ class GraphBasedSLAM(Slam):
return Pose(self.mu[0, 0], self.mu[1, 0], self.mu[2, 0])
def get_estimated_trajectory(self):
traj = []
for vertex in self.graph.get_estimated_pose_vertices():
traj.append((vertex.pose[0,0], vertex.pose[1,0]))
return traj
return [ (v.pose[0,0], v.pose[1,0]) \
for v in self.graph.get_estimated_pose_vertices()]
def get_landmarks(self):
"""
Returns the estimated landmark positions
"""
landmarks = []
vertices = self.graph.get_estimated_landmark_vertices()
for v in vertices:
landmarks.append((v.pose[0, 0], v.pose[1, 0]))
return landmarks
return [(v.pose[0, 0], v.pose[1, 0]) \
for v in self.graph.get_estimated_landmark_vertices() ]
def plot_graph(self):
"""
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment