Head-mounted sensing for exploration
From [WearLab]
Contents |
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Diplom Thesis
The aim of the project is to provide simultaneous localization and mapping using wearable head-mounted laser range and motion sensors.
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Used Sensors
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Hokuyo URG Laser Range Finder
- Port: /dev/ttyACM0
- Min/Max scan angles: -120.0, 120.0 (in degrees); -2.094, 2.094 (in radians)
- Used baud rate: 19200
- Angular detection range: 240 degree
- Resolution: 1 mm
- Angular resolution per step: 0.3515625 degree
- Distance range: 20 mm to 4094 mm
- Min/Max steps: 44 - 725
- Maximum readings: 769
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XSens Motion Sensor
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Scan Matching
- Used Algorithm: Iterative Closest Point Algorithm
- To Do: Scan Projection & Occlusion Check
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