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We've had problems using laser scan matcher in hallways as well, although the angular errors in your video are different than what weve seen.

Normally laser based ICP will fail by shortening the end wall as you approach, and lengthening it as you move away.

I think this is because, due to the nature of a 2D laser scanner, you will have points more densely packed closer to the robot than farther away down the wall, so ICP will tend to skew toward matching the closer points than the ones farther out.

If you have other odom sensors, try using something like robot_pose_ekf and adjust the covariances of your laser odom.

We've I've had problems using laser scan matcher in hallways as well, although the angular errors in your video are different than what weve seen.

Normally laser based ICP will fail by shortening the end wall as you approach, and lengthening it as you move away.

I think this is because, due to the nature of a 2D laser scanner, you will have points more densely packed closer to the robot than farther away down the wall, so ICP will tend to skew toward matching the closer points than the ones farther out.

If you have other odom sensors, try using something like robot_pose_ekf and adjust the covariances of your laser odom.