Commit ab38c8c4 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Changed persistance by persistence

parent db349b08
......@@ -10,7 +10,7 @@ The following image is a basic representation of the slam problem. Is a sequence
<img src="doc/images/slam_problem_sketch.png" alt="Image: Slam problem overview">
When searching for new landmarks, there is a landmark time persistance filter that checks that a landmark is seen enough times on the same location before adding it as a mapped landmarks. An orientation filter can be enabled to check that it has a similar orientation on each detection.
When searching for new landmarks, there is a landmark time persistence filter that checks that a landmark is seen enough times on the same location before adding it as a mapped landmarks. An orientation filter can be enabled to check that it has a similar orientation on each detection.
To match a detection with a landmark the [Mahalanobis distance](https://en.wikipedia.org/wiki/Mahalanobis_distance) is used. Basically, a match between a detection and a landmark is done when the detection is inside an ellipse centered on the landmark. The ellipse is defined by the sensor noise and the mahalanobis distance parameter.
......@@ -59,7 +59,7 @@ If the lanmarks are loaded from the xodr file, *load_landmarks_from_xodr* parame
- ~**init_pose_covariance** (Double; default: 0.01; min: 0.00001; max: 0.1) Initial pose covariance.
##### Landmark candidates filter
- ~**landmarks_candidates_filter_en** (Boolean; default: False) Boolean to filter landmarks checking if it's a feature on the following scans before adding it as landmark.
- ~**landmarks_filter_orientation_en** (Boolean; default: False) Boolean to add orientation filter to landmarks time persistance filter.
- ~**landmarks_filter_orientation_en** (Boolean; default: False) Boolean to add orientation filter to landmarks time persistence filter.
- ~**landmark_mahalanobis_dist** (Double; default: 2.0; min: 0.01; max: 20.0) Mahalonibis distance parameter.
- ~**landmarks_min_detections** (Integer; default: 3; min: 1; max: 30) The number of detections on a row to trust it as a new landmark.
- ~**landmarks_orientation_th** (Double; default: 0.4; min: 0.01; max: 0.8) Maximum orientation diff from the last detection on following inputs.
......
......@@ -60,7 +60,7 @@ gen.add("err_msg_rate", double_t, 0, "Rate t
gen.add("init_pose_covariance", double_t, 0, "Initial pose covariance", 0.25, 0.1, 1.0)
landmarks.add("landmarks_candidates_filter_en", bool_t, 0, "Boolean to filter landmarks checking if it's a feature on the followings scans before adding it as landmark", False)
landmarks.add("landmarks_filter_orientation_en", bool_t, 0, "Boolean to add orientation filter to time persistance filter", False)
landmarks.add("landmarks_filter_orientation_en", bool_t, 0, "Boolean to add orientation filter to time persistence filter", False)
landmarks.add("landmark_mahalanobis_dist", double_t, 0, "Mahalonibis distance parameter", 2.0, 0.01, 20.0)
landmarks.add("landmarks_min_detections", int_t, 0, "The number of detections on a row to trust it as a landmark", 3, 1, 30)
landmarks.add("landmarks_orientation_th", double_t, 0, "Maximum orientation diff from the last detection on following inputs", 0.4, 0.01, 0.8)
......
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