matchScansLine
Estimate pose between two laser scans using line features
Syntax
Description
estimates the relative pose between two scans based on matched line features identified in
each scan. Specify an initial guess on the relative pose,
relpose
= matchScansLine(currScan
,refScan
,initialRelPose
)initialRelPose
.
[___] = matchScansLine(___,
specifies options using one or more name-value pair arguments.Name,Value
)
Examples
Input Arguments
Name-Value Arguments
Output Arguments
References
[1] Neira, J., and J.d. Tardos. “Data Association in Stochastic Mapping Using the Joint Compatibility Test.” IEEE Transactions on Robotics and Automation 17, no. 6 (2001): 890–97. https://doi.org/10.1109/70.976019.
[2] Shen, Xiaotong, Emilio Frazzoli, Daniela Rus, and Marcelo H. Ang. “Fast Joint Compatibility Branch and Bound for Feature Cloud Matching.” 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. https://doi.org/10.1109/iros.2016.7759281.
Version History
Introduced in R2020a