Commit 84292495 authored by Fernando Herrero's avatar Fernando Herrero
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Update README.md

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## Description
This node is intended to filter [ar_track_alvar](http://wiki.ros.org/ar_track_alvar) detections. When a detection passes all filters, it becomes a *Feature*. A feature is something that you detects on the environment that is considered important (in this case, important for the localization with [iri_adc_landmarks_slam_solver](https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_adc_landmarks_slam_solver)). The filters developed are the following ones:
This node is intended to filter [ar_track_alvar](http://wiki.ros.org/ar_track_alvar) detections. When a detection passes all filters, it becomes a *Feature*. A feature is something that you detect on the environment that is considered important (in this case, important for the localization with [iri_adc_landmarks_slam_solver](https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_adc_landmarks_slam_solver)). The filters developed are the following ones:
- **Range filter**: Defines a maximum distance to take into account an ar tag detection.
- **Confidence filter**: Defines a minimum confidence to take into account an ar tag detection. *NOTE: the ar_track_alvar node doesn't fill this parameter*.
- **ID filter**: It filters any ar tag detection with a different ID than the enabled ones.
- **Time persistance filter**: Filter that checks that an ar tag detection is detected a minimum number of times on the same region. The region is defined with a range and angular window from the last detection. An orientation filter can be enabled to check that it has a similar orientation on each detection.
- **Time persistence filter**: Filter that checks that an ar tag detection is detected a minimum number of times on the same region. The region is defined with a range and angular window from the last detection. An orientation filter can be enabled to check that it has a similar orientation on each detection.
# ROS Interface
### Topic publishers
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