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How does `hector_mapping` build the coordinate system?

asked 2019-04-09 07:01:53 -0600

anonymous user


updated 2019-04-09 07:03:03 -0600

Now I want to know the localization accuracy of hector_mapping, so I need to measure the actual position of the robot and compare it with the position of hector_mapping publish on slam_out_pose. As far as I know, after the cartographer starts, the direction in which the robot advances is defined as the positive direction of the x-axis, and then based on this coordinate system, the position information of the robot is output. Is hector_mapping based on such a mechanism to establish a coordinate system? If not, what is the `hector_mapping based on to establish the coordinate system?

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answered 2019-04-09 18:14:57 -0600

Yes, hector_mapping uses the standard ROS coordinate frame convention (see REP 103). It starts mapping at the zero pose (translations zero and identity quaternion) with x pointing forwards, y left, z up and estimates the robot pose relative to that.

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Thank you,sir! After solving this problem, I have a new question: How to test the accuracy of hector_mapping's localization?

anonymous userAnonymous ( 2019-04-09 21:15:40 -0600 )edit

This depends on the application. A common way of testing a SLAM algorithms accuracy is testing loop closure performance.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2019-05-06 14:09:35 -0600 )edit

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Asked: 2019-04-09 07:01:53 -0600

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Last updated: Apr 09 '19