The "circle_odometry" Package

This repo is for our IEEE Trans. on Instrumentation and Measurement submission of "Circle fit matching: a fast analytical laser scan matching method for 2D laser scanners".

Working Principle

Dependencies

• ROS
• Eigen3
• PCL 1.8
• YAML-CPP

Build This Program

mkdir -p circle_odom_ws/src/ && cd circle_odom_ws/src/
git clone https://github.com/bzdfzfer/circle_odometry
cd ~/circle_odom_ws/ && catkin_make -DCMAKE_BUILD_TYPE=Release

Run This Program

source devel/setup.bash
roslaunch circle_odometry circle_odometry.launch 
# Open another terminal.
cd ~/circle_odom_ws/src/circle_odometry/rviz_cfg/
rviz -d circle_odom.rviz
rosbag play scene1.bag --clock 

Dataset Downloading

• TODO (add links for three rosbags)

Some Results

Comparison with RF2O

Degneration processing results

Paper Citation:

• Anonymous for review, Circle fit matching: A Fast Analytical Laser Scan Matching Method for 2D Laser Scanners, IEEE Transactions on Instrumentation and Measurement. (Accepted) Early Access Version