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hokuyo (URG-04LX) + imu (3DM-GX3-25) +hector mappping

asked 2013-04-03 21:49:48 -0500

elva gravatar image

updated 2014-01-28 17:16:02 -0500

ngrennan gravatar image

I am using hokuyo (URG-04LX) + imu (3DM-GX3-25) and a mirror for height estimation to do 2D hector mappping and octomap to perform 3D mapping.all the frames transform are ok now . i know my hokuyo scan rate is not high enough,but this is the only laser scan i have. when i tested it around my lab, after turning the second corner map is not 90 degrees and become messy.i know that imu only provide pitch and roll data to hector mapping,now i am trying use imu data for yaw angle to help the hokuyo and hector map perform better,but do not know how.

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answered 2013-04-04 00:10:09 -0500

dornhege gravatar image

You shouldn't need to do anything. Just publish everything and it should use it if possible. One thing with the mirror: You'll need to filter that part out before passing it into any 2D SLAM algorithm. If you want some help about the algorithm performance, you'll need to provide some concrete data.

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Asked: 2013-04-03 21:49:48 -0500

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Last updated: Apr 03 '13