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feature detection

Wed, 08/04/2010 - 02:33 — antonio

HI,
wich class do I have to use to detect feature (for example trees, chair, or other enviroment objects) from 2D laser scanning to create a landmark for 2D slam?
And if there isn't a class could someone give me a code that implements the algorithm for feature extraction from laser scan?
thanks for the assistance

‹ Logging data Landmark extraction ›
Sat, 08/07/2010 - 11:49 — jlblanco
jlblanco's picture

Hi Antonio, G.D. Tipaldi

Hi Antonio,

G.D. Tipaldi recently published a paper and a library on OpenSLAM to do such feature detection, but obviously it's not directly compatible with MRPT classes :-(
Here's the link in case you or anyone else want to take a look at it: http://www.openslam.org/flirtlib.html

After detecting features (with this, or any other method), you must fill out a mrpt::slam::CObservationBearingRange object with the list of detected features ("measurements"), setting the landmarkID to INVALID_LANDMARK_ID to leave the data association problem to the EKF-SLAM class.

Hope this helped a bit!
JL

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