Skip to content

Implementation of lidar motion distortion correction with wheel odometry

Notifications You must be signed in to change notification settings

Mesywang/Lidar-Distortion-Correction

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

4 Commits
 
 
 
 
 
 
 
 

Repository files navigation

Lidar-Distortion-Correction

  Implementation of lidar motion distortion correction with wheel odometry in ROS. I use the interpolation of wheel odometry to calculate the robot pose corresponding to each point in the lidar scan, and transform it to the base pose frame.

1. Prerequisites

  • Ubuntu 64-bit 18.04
  • ROS Melodic

2.Build on ROS

  • Clone this repository to your catkin workspace and catkin_make.
  cd ${YOUR_WORKSPACE_PATH}/src
  git clone https://github.com/Mesywang/Lidar-Distortion-Correction
  cd ..
  catkin_make

3. Run the Demo

  • Launch the package.
  roslaunch laser_undistortion LaserUndistortion.launch  
  rosbag play --clock src/laser_undistortion/bag/laser.bag 

4. The result

  Normally, You can see point clouds in two colors, the red represents the original point clouds with motion distortion, and the green represents the corrected point clouds, as displayed below:

About

Implementation of lidar motion distortion correction with wheel odometry

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published