ndt histogram_direction

合集 - SLAM(55)

1.个人资源索引2018-03-032.SLAM学习笔记（1）基本概念2015-08-063.SLAM学习笔记（2）SLAM算法2015-08-214.[ROS]2 尝试编译OrbSLAM2016-01-185.[ROS]1 小乌龟2016-01-186.SLAM最近的工作2015-11-057.SLAM学习笔记（3）相关概念2015-09-168.[SLAM]2D激光线特征提取2016-07-169.[SLAM] GMapping SLAM源码阅读（草稿）2016-07-0110.[QGLViewer]First Demo2016-06-2911.SLAM数据集2016-06-2312.[SLAM]2D激光扫描匹配方法2016-06-1513.[g2o]一个备忘2016-04-2114.[ROS] slam_gmapping2016-01-2415.[ROS]3 Linux编程练习2016-01-2016.Linux学习和ROS安装（1）2017-12-1917.小豆包的学习之旅：机器人定位2017-05-0218.小豆包的学习之旅：传感器观测模型2017-04-2119.Kinect2.0相机标定2017-04-1020.小豆包的学习之旅：里程计运动模型2017-04-0321.小豆包的学习之旅：入门篇2017-04-0222.Kinect2.0点云数据获取2017-03-3023.[硬件]Robot运动控制2017-03-2224.[硬件]Urg_viewer数据读取2017-03-1425.[硬件]三维点云数据获取2017-03-0426.Kinect2.0获取数据2017-02-15

27.ndt histogram_direction2016-09-08

28.rplidar & hector slam without odometry2016-08-2629.rplidar测试2016-08-1230.[原创]NDT方法在SLAM中的应用2016-08-0831.[SLAM]Karto SLAM算法学习（草稿）2016-07-2232.ROS学习备忘2018-07-1833.[ROS]激光驱动安装2018-07-1634.OrbSLAM2采集点云数据2018-03-2635.Cartographer源码阅读(8)：imu_tracker2018-03-2136.[硬件]点云数据采集22018-03-1937.Cartographer源码阅读(9)：图优化的前端——闭环检测2018-03-0838.Cartographer源码阅读(7)：轨迹推算和位姿推算的原理2018-03-0839.Ethzasl MSF源码阅读(3)：MSF_Core和PoseMeasurement2018-03-0740.Ethzasl MSF源码阅读(2)：百川汇海2018-03-0641.Ethzasl MSF源码阅读(1)：程序入口和主题订阅2018-03-0442.Cartographer源码阅读(6)：LocalTrajectoryBuilder和PoseExtrapolator2018-02-2543.Cartographer源码阅读(5)：PoseGraph位姿图2018-02-2444.Cartographer源码阅读(4)：Node和MapBuilder对象22018-01-1045.Cartographer源码阅读(3)：程序逻辑结构2017-12-2946.Cartographer源码阅读(2)：Node和MapBuilder对象2017-12-2847.Cartographer源码阅读(1)：程序入口2017-12-2848.实时Cartographer测试(1) - rplidar2017-12-2149.Cartographer安装2017-12-2050.ROS安装（2）2017-12-2051.[ROS]一些传感器数据读取融合问题的思考2017-05-0652.小豆包的学习之旅：占用概率栅格地图和cost-map2017-05-0253.小豆包的学习之旅：开发记录2017-04-2954.[概述]移动机器人自主探索2017-04-1855.MRPT编译2017-04-14

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histogram_direction

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N_FLAT_BINS=40; dlong = pi*(3-sqrt(5.0));  % ~2.39996323 dz    = 2.0/N_FLAT_BINS; longitude = 0; z    = 1 - dz/2; directions=zeros(3,N_FLAT_BINS); for  k = 1:N_FLAT_BINS     r = sqrt(1-z*z);     v=[1*cos(longitude)*r 1*sin(longitude)*r z]';     directions(:,k)=v;     z = z - dz;     longitude = longitude + dlong; end   figure(1) plot3(directions(1,:),directions(2,:),directions(3,:),'r.',0,0,0,'b.'), hold on, axis equal for  k = 1:N_FLAT_BINS-1     plot3([directions(1,k) 0],[directions(2,k) 0],[directions(3,k) 0],'y-','LineWidth',1);     plot3([directions(1,k) directions(1,k+1)],[directions(2,k) directions(2,k+1)],[directions(3,k) directions(3,k+1)],'LineWidth',1); end