g2o::ClosedFormCalibration Class Reference

Simultaneous calibration of the laser offset and the parameters of a differential drive. More...

#include <closed_form_calibration.h>

Static Public Member Functions
static bool	calibrate (const MotionInformationVector &measurements, SE2 &laserOffset, Eigen::Vector3d &odomParams)

Static Protected Member Functions
static Eigen::VectorXd	solveLagrange (const Eigen::Matrix< double, 5, 5 > &M, double lambda)

Detailed Description

Simultaneous calibration of the laser offset and the parameters of a differential drive.

Approach described by Censi et al. Andrea Censi, Luca Marchionni, and Giuseppe Oriolo. Simultaneous maximum-likelihood calibration of robot and sensor parameters. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Pasadena, CA, May 2008.

Definition at line 47 of file closed_form_calibration.h.

Member Function Documentation

calibrate()

bool g2o::ClosedFormCalibration::calibrate ( const MotionInformationVector & measurements, SE2 & laserOffset, Eigen::Vector3d & odomParams )

static

Definition at line 42 of file closed_form_calibration.cpp.

References g2o::OdomConvert::convertToVelocity(), CUBE, linearSolution, g2o::SE2::rotation(), solveLagrange(), SQR, g2o::SE2::translation(), g2o::VelocityMeasurement::vl(), and g2o::VelocityMeasurement::vr().

Referenced by main().

solveLagrange()

Eigen::VectorXd g2o::ClosedFormCalibration::solveLagrange ( const Eigen::Matrix< double, 5, 5 > & M, double lambda )

staticprotected

Definition at line 167 of file closed_form_calibration.cpp.

Referenced by calibrate().

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The documentation for this class was generated from the following files:

• /build/reproducible-path/g2o-0~20230806/g2o/examples/calibration_odom_laser/closed_form_calibration.h
• /build/reproducible-path/g2o-0~20230806/g2o/examples/calibration_odom_laser/closed_form_calibration.cpp